From 89e8e30de6af3d074c09dfde12f70535981d735a Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 28 Feb 2017 16:30:57 -0800
Subject: [PATCH] fix lack of collision scaling in pybullet URDF/SDF files
 (only graphics meshes supported scaling, collision objects ignored scaling)

---
 examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 32281da3e..dfe49e8b6 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -704,6 +704,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 								}
 								
 								btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
+								trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
 								shape = trimesh;
 							} else
 							{
@@ -713,6 +714,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 								convexHull->optimizeConvexHull();
 								//convexHull->initializePolyhedralFeatures();
 								convexHull->setMargin(gUrdfDefaultCollisionMargin);
+								convexHull->setLocalScaling(collision->m_geometry.m_meshScale);
 								shape = convexHull;
 							}
 						} else