Hi Andrew,
You're right, that is a bug.  I've added a patch in trunk (r34779).
Thanks,
John

On Tue, Dec 14, 2010 at 6:29 PM, Andrew Mor <abm760@gmail.com> wrote:

> Hi John,
>
> I have a question about one of the points you made, namely that gazebo can
> show bounding boxes for collision meshes.  When using STL models for the
> links, and then the same exact information for the collision model, when I
> show the bounding box for the collision mesh, it seems to be offset halfway
> down the model, as if the rendering code did not expect the box origin to be
> in the center instead of on one end of the box.  Is this the behavior on
> your installation?  The code I am using inside the link definition in my
> xacro file is:
>
> <visual>
>   <material name="Grey" />
>   <origin xyz="0 .189 0" rpy="${PI} 0 0" />
>   <geometry>
>     <mesh
> filename="${homeDirectory}/models/componentSTL/ShoulderLink1.stl"/>
>   </geometry>
> </visual>
> <collision>
>   <origin xyz="0 .189 0" rpy="${PI} 0 0" />
>   <geometry>
>     <mesh
> filename="${homeDirectory}/models/componentSTL/ShoulderLink1.stl"/>
>   </geometry>
> </collision>
>
> Andrew
>
> On Tue, Dec 14, 2010 at 6:32 PM, John Hsu <johnhsu@willowgarage.com>
> wrote:
> >
> > In terms of visualization capability in gazebo, in summary, gazebo
> currently can visualize following entities:
> >
> > bounding box for the collision mesh
>
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