diff -Nru choreonoid-sdfloader-plugin-1.0.0+20170326+49+3~ubuntu16.04.1/debian/bzr-builder.manifest choreonoid-sdfloader-plugin-1.0.0+20170919+50+3~ubuntu16.04.1/debian/bzr-builder.manifest
--- choreonoid-sdfloader-plugin-1.0.0+20170326+49+3~ubuntu16.04.1/debian/bzr-builder.manifest	2017-03-26 12:10:12.000000000 +0000
+++ choreonoid-sdfloader-plugin-1.0.0+20170919+50+3~ubuntu16.04.1/debian/bzr-builder.manifest	2017-09-19 13:32:19.000000000 +0000
@@ -1,3 +1,3 @@
-# bzr-builder format 0.3 deb-version {debupstream}+20170326+49+3
-lp:~hrg/hrg-packaging/choreonoid-sdfloader-plugin revid:git-v1:a01036807f4bcf06be03c8e67bcca4bccd3fc3dc
+# bzr-builder format 0.3 deb-version {debupstream}+20170919+50+3
+lp:~hrg/hrg-packaging/choreonoid-sdfloader-plugin revid:git-v1:d5e86f37cdff1a57d8862365f6adeb48fa20c786
 nest-part packaging lp:~hrg/hrg-packaging/choreonoid-sdfloader-plugin-deb debian debian revid:f-kanehiro@aist.go.jp-20160425114741-04dkodd7cpoafqaa
diff -Nru choreonoid-sdfloader-plugin-1.0.0+20170326+49+3~ubuntu16.04.1/debian/changelog choreonoid-sdfloader-plugin-1.0.0+20170919+50+3~ubuntu16.04.1/debian/changelog
--- choreonoid-sdfloader-plugin-1.0.0+20170326+49+3~ubuntu16.04.1/debian/changelog	2017-03-26 12:10:12.000000000 +0000
+++ choreonoid-sdfloader-plugin-1.0.0+20170919+50+3~ubuntu16.04.1/debian/changelog	2017-09-19 13:32:19.000000000 +0000
@@ -1,8 +1,8 @@
-choreonoid-sdfloader-plugin (1.0.0+20170326+49+3~ubuntu16.04.1) xenial; urgency=low
+choreonoid-sdfloader-plugin (1.0.0+20170919+50+3~ubuntu16.04.1) xenial; urgency=low
 
   * Auto build.
 
- -- Fumio KANEHIRO <f-kanehiro@aist.go.jp>  Sun, 26 Mar 2017 12:10:12 +0000
+ -- Launchpad Package Builder <noreply@launchpad.net>  Tue, 19 Sep 2017 13:32:19 +0000
 
 choreonoid-sdfloader-plugin (1.0.0) UNRELEASED; urgency=medium
 
diff -Nru choreonoid-sdfloader-plugin-1.0.0+20170326+49+3~ubuntu16.04.1/SDFBodyLoader.cpp choreonoid-sdfloader-plugin-1.0.0+20170919+50+3~ubuntu16.04.1/SDFBodyLoader.cpp
--- choreonoid-sdfloader-plugin-1.0.0+20170326+49+3~ubuntu16.04.1/SDFBodyLoader.cpp	2017-03-26 12:10:11.000000000 +0000
+++ choreonoid-sdfloader-plugin-1.0.0+20170919+50+3~ubuntu16.04.1/SDFBodyLoader.cpp	2017-09-19 13:32:19.000000000 +0000
@@ -17,7 +17,6 @@
 #include <cnoid/SceneGraph>
 #include <cnoid/SceneShape>
 #include <cnoid/SceneDrawables>
-#include <cnoid/DaeParser>
 #include <cnoid/MeshGenerator>
 #include <cnoid/NullOut>
 #include <cnoid/ImageIO>
@@ -587,7 +586,7 @@
                 link->setName((*c)->childName);
                 link->setJointType(Link::FIXED_JOINT);
                 link->setJointAxis(Vector3::Zero());
-                link->Tb() = rootpose * (*c)->pose;
+                link->setOffsetPosition(rootpose * (*c)->pose);
                 root.reset(new JointInfo());
                 root->jointName = (*c)->jointName;
                 root->childName = (*c)->parentName;