URDF to Collada: joint coordinate system not observed?

[sloretz]

From ros/robot_model#169

I have a problem similar to this http://answers.ros.org/question/221675/unable-to-move-links-within-urdf-file/ , it is only that I convert from URDF to Collada.

Original URDF as seen in RViz:

After converting to Collada as seen in Openrave:

If I judge solely by eyesight, it seems to me that in the converted Collada file the visual elements are rendered not w.r.t. (local) joint coordinate systems.

I am using Indigo:

$ dpkg -l | grep indigo-collada
ii  ros-indigo-collada-parser                             1.11.11-0trusty-20160627-175110-0700                amd64        This package contains a C++ parser for the Collada robot description format.
ii  ros-indigo-collada-urdf                               1.11.11-0trusty-20161111-194651-0800                amd64        This package contains a tool to convert Unified Robot Description Format (URDF) documents into COLLAborative Design Activity (COLLADA) documents.

Is this a known problem, maybe, already solved in Kinectic?

Thanks.