diff --git a/trunk/fcl/include/fcl/collision_object.h b/trunk/fcl/include/fcl/collision_object.h
index 33e51318606559af53ae1ee0ef82ec5a26b85b5f..e638684b7243c61a2b9b11a66ed53d6c89100eac 100644
--- a/trunk/fcl/include/fcl/collision_object.h
+++ b/trunk/fcl/include/fcl/collision_object.h
@@ -170,12 +170,12 @@ public:
   {
     if(t.getQuatRotation().isIdentity())
     {
-      aabb = cgeom->aabb_local;
+      aabb = translate(cgeom->aabb_local, t.getTranslation());
     }
     else
     {
       Vec3f center = t.transform(cgeom->aabb_center);
-      Vec3f delta(cgeom->aabb_radius, cgeom->aabb_radius, cgeom->aabb_radius);
+      Vec3f delta(cgeom->aabb_radius);
       aabb.min_ = center - delta;
       aabb.max_ = center + delta;
     }