Why there are two origin in defining xacro:macro link
Hi, I am following the tutorial about urdf. In example 08-xacro, I don't understand why when defining the xacro:macro for a link/visual tag, there are two origin tags before and after geometry tags.
<visual>
<origin xyz="0 0 0" rpy="${pi/2} 0 0" />
<geometry>
<cylinder radius="${wheeldiam/2}" length="0.1"/>
</geometry>
<material name="black"/>
<origin xyz="0 0 0" rpy="0 0 0" />
</visual>
Thank you very much for your help.