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Fixing issue with visual geometry origin not being respected #32

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Fixing issue with visual geometry origin not being respected #32

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2 changes: 1 addition & 1 deletion collada_urdf/src/collada_urdf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1200,7 +1200,7 @@ class ColladaWriter : public daeErrorHandler
// just 1 visual
int igeom = 0;
string geomid = _ComputeId(str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom));
domGeometryRef pdomgeom = _WriteGeometry(geometry, geomid);
domGeometryRef pdomgeom = _WriteGeometry(geometry, geomid, &geometry_origin_inv);
domInstance_geometryRef pinstgeom = daeSafeCast<domInstance_geometry>(pnode->add(COLLADA_ELEMENT_INSTANCE_GEOMETRY));
pinstgeom->setUrl((string("#")+geomid).c_str());

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