diff --git a/src/parsers/urdf/geometry.cpp b/src/parsers/urdf/geometry.cpp
index 93b9b434559c3fc37bc963a01810d77a3bbdfcff..91abef569daf1a44fc804a11d4993816def0b8fb 100644
--- a/src/parsers/urdf/geometry.cpp
+++ b/src/parsers/urdf/geometry.cpp
@@ -202,7 +202,6 @@ namespace se3
           for (typename std::vector< boost::shared_ptr< T > >::const_iterator i = geometries_array.begin();i != geometries_array.end(); ++i)
           {
 #ifdef WITH_HPP_FCL
-            mesh_path = retrieveResourcePath(boost::dynamic_pointer_cast< ::urdf::Mesh> ((*i)->geometry)->filename, package_dirs);
             const boost::shared_ptr<fcl::CollisionGeometry> geometry = retrieveCollisionGeometry((*i)->geometry, package_dirs, mesh_path);
 #else
             boost::shared_ptr < ::urdf::Mesh> urdf_mesh = boost::dynamic_pointer_cast< ::urdf::Mesh> ((*i)->geometry);