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Hi! Yes I've used SolidWorks to URDF plugin!!!

About your tip to locate solidworks model in the global origin at solidworks I've already done that! Every part that I've designed was located at origin, and when I've started the assembly of my robot model I've located 1st part at origin of the assembly! Is there such way to manipulate my urdf/xacro file to correct its position related to the gazebo world origin?

I forget to say it before ...I'm using fuerte!!!

Thank you!