Units does not scale

[yanshil]

Units does not scale

[yanshil]

Yeah you are right. That's because STL file doesn't actually include units information.

I should have write this down in the README but I forgot that.

---

Here is a solution to export correct size:

Check Bullet_URDF_Exporter/core/Link.py

By modifying the 'scale':'0.001 0.001 0.001' to a proper value will scale it to the size you want.

        # visual
        visual = SubElement(link, 'visual')
        origin_v = SubElement(visual, 'origin')
        origin_v.attrib = {'xyz':' '.join([str(_) for _ in self.xyz]), 'rpy':'0 0 0'}
        geometry_v = SubElement(visual, 'geometry')
        mesh_v = SubElement(geometry_v, 'mesh')
        mesh_v.attrib = {'filename': self.repo + self.name + '.stl','scale':'0.001 0.001 0.001'}
        material = SubElement(visual, 'material')
        material.attrib = {'name':'silver'}
        
        # collision
        collision = SubElement(link, 'collision')
        origin_c = SubElement(collision, 'origin')
        origin_c.attrib = {'xyz':' '.join([str(_) for _ in self.xyz]), 'rpy':'0 0 0'}
        geometry_c = SubElement(collision, 'geometry')
        mesh_c = SubElement(geometry_c, 'mesh')
        mesh_c.attrib = {'filename': self.repo + self.name + '.stl','scale':'0.001 0.001 0.001'}