When will issue #494 : Make joint axis reference frame relative to child----be addressed https://bitbucket.org/osrf/gazebo/issue/494/make-joint-axis-reference-frame-relative Does anyone have a update? Is this the correct group for this question? The model in rivz look the same on initial pose but joint transforms diverge when the model moves in gazebo. That is the links in rivz stay fixed to their central axis but the gazebo they rotate off center.