Fixed center of mass scaling before mesh rescaling

BerkeleyAutomation · Nov 16, 2018 · 1643b45 · 1643b45
1 parent 02a199a
commit 1643b45
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/src/dexnet/database/mesh_processor.py b/src/dexnet/database/mesh_processor.py
@@ -186,7 +186,11 @@ def _clean_mesh(self, scale, rescaling_type, use_uniform_com, rescale_mesh=False
         self._standardize_pose()
         if rescale_mesh:
             self._rescale_vertices(scale, rescaling_type, use_uniform_com)
-
+        self.mesh_.trimesh_ = None
+        self.mesh_.trimesh # initialize mesh_.trimesh_
+        if use_uniform_com:
+            self.mesh_.center_of_mass = self.mesh_._compute_com_uniform()
+
     def _remove_bad_tris(self):
         """ Remove triangles with illegal out-of-bounds references """
         new_tris = []