Выстроена готовая 3Д сцена

tools/export_descriptions.py

@@ -57,6 +57,14 @@ def export():
             target.parent.mkdir(parents=True, exist_ok=True)
             shutil.copy2(SOURCE / "resource/meshes" / relative, target)
             mesh.set("filename", ("meshes/" if path.parent.name == "urdf" else "../urdf/meshes/") + relative)
+            # Genesis/trimesh retain COLLADA units as metadata, without scaling vertices.
+            # Convert millimetre-authored visual meshes into the URDF's metres explicitly.
+            if target.suffix.lower() == ".dae":
+                unit = ET.parse(target).find(".//{*}unit")
+                metres = float(unit.get("meter", "1")) if unit is not None else 1.0
+                if metres != 1.0:
+                    scale = [float(v) * metres for v in mesh.get("scale", "1 1 1").split()]
+                    mesh.set("scale", " ".join(f"{v:g}" for v in scale))
         ET.indent(robot)
         ET.ElementTree(robot).write(path, encoding="utf-8", xml_declaration=True)