Link pose not exported in SDF

[svepe]

Describe the bug
When an SDF is exported the link pose is no longer set. Previous version of phobos did put a <pose> tag relative to the parent joint, but this is no longer the case.

To Reproduce
Steps to reproduce the behavior:

1. Export SDF from the attached .blend file which contains a simple example with only 2 links.
   excavator_phobos_issue.blend.zip
   

2. Open the SDF in gazebo

3. Both links are shown at the world origin (0, 0, 0)
   

Expected behavior
The second link should be above the first one.

Adding the following line to the second link in the SDF fixes the issue

<link name="cabin_link">
    <pose relative_to="cabin_joint">0.00000 0.00000 0.00000 0.00000 0.00000 0.00000</pose>
   ...

Desktop (please complete the following information):

• OS: Ubuntu 22.04
• Blender version: 3.6.4
• At latest phobos commit 56d46c7

Previous versions of phobos did not have this issue.

[hwiedPro]

Hi @svepe,
please checkout the commit I just pushed and whether it fixes your issue. ;)

[skrymets]

@hwiedPro , well, I've applied the changes you've mentioned (ea4b644) to my local Blender Phobos addon setup, and it seems, than it does the trick for me.

Thank you!

PS: The only note that is worth to make - it doesn't work (in some other way - correct position but wrong orientation) IF, let's say, you've added a link (joint), then rotated it for some angle and applied the rotation transformation.

[AlpenAalAlex]

PS: The only note that is worth to make - it doesn't work (in some other way - correct position but wrong orientation) IF, let's say, you've added a link (joint), then rotated it for some angle and applied the rotation transformation.

@skrymets Can you explain this in further detail in a new issue?