Fixed setting of transform for model entities to set the local transform, not world

lemonade-dm · lemonade-dm · commit b1d228fceb4d · 2023-10-09T19:16:51.000-05:00
Signed-off-by: lumberyard-employee-dm &lt;56135373+lumberyard-employee-dm@users.noreply.github.com&gt;
diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/URDFPrefabMaker.cpp b/Gems/ROS2/Code/Source/RobotImporter/URDF/URDFPrefabMaker.cpp
@@ -569,8 +569,9 @@ namespace ROS2
         {
             gz::math::Pose3d modelPose = model.RawPose();
             AZ::Transform modelTransform = URDF::TypeConversions::ConvertPose(modelPose);
-
-            transformComponent->SetWorldTM(AZStd::move(modelTransform));
+            // Set the local transform for each model to have it be translated in relation
+            // to its parent
+            transformComponent->SetLocalTM(AZStd::move(modelTransform));
         }
 
         // Allow the created model entity to persist if there are no errors at ths point

Original file line number	Diff line number	Diff line change
`@@ -569,8 +569,9 @@ namespace ROS2`
`569`	`569`	`{`
`570`	`570`	`gz::math::Pose3d modelPose = model.RawPose();`
`571`	`571`	`AZ::Transform modelTransform = URDF::TypeConversions::ConvertPose(modelPose);`
`572`		`-`
`573`		`- transformComponent->SetWorldTM(AZStd::move(modelTransform));`
	`572`	`+ // Set the local transform for each model to have it be translated in relation`
	`573`	`+ // to its parent`
	`574`	`+ transformComponent->SetLocalTM(AZStd::move(modelTransform));`
`574`	`575`	`}`
`575`	`576`
`576`	`577`	`// Allow the created model entity to persist if there are no errors at ths point`