[bug] Wrong Coordinate System

[G-Yong]

(Please add appropriate labels)

• Windows: (Version)
• Linux: (Dist/Version)
• ROS 1: Dist
• ROS 2: Dist

<Version of the plugin>
v0.9.4

<Copy the Version information from the Help | About menu>

Version: 1.81.0
Commit: 6445d93c81ebe42c4cbd7a60712e0b17d9463e97
Date: 2023-08-02T12:36:11.334Z
Electron: 22.3.18
ElectronBuildId: 22689846
Chromium: 108.0.5359.215
Node.js: 16.17.1
V8: 10.8.168.25-electron.0
OS: Linux x64 6.2.0-26-generic

what is the bug

<current behavior>
I am developing a project using ROS2 (humble) on Ubuntu 22.04.
When I write a urdf file and import it to display in rviz, the displayed model is inconsistent with the result shown in vscode.

Repro steps

<how to reproduce the bug. Please attach sample files or github repo if appropriate.>
1.Use this urdf file.

`

<!-- Base link -->
<link name="base_link">
    <visual>
        <geometry>
            <box size="0.1 0.1 0.1"/>
        </geometry>
        <origin xyz="0 0 0.05" rpy="0 0 0" />
        <material name="blue">
            <color rgba="0 0 1.0 1"/>
        </material>
    </visual>
    <collision>
        <geometry>
            <box size="0.1 0.1 0.1"/>
        </geometry>
        <origin xyz="0 0 0.05" rpy="0 0 0"/>
    </collision>
    <!-- <inertial>
        <mass value="0"/>
        <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial> -->
</link>

<!-- Link 1 -->
<link name="link1">
    <visual>
        <geometry>
            <box size="0.25 0.08 0.02"/>
        </geometry>
        <origin xyz="0.125 0 0.01" rpy="0 0 0" />
        <material name="green">
            <color rgba="0 0.8 0 1"/>
        </material>
    </visual>
    <collision>
        <geometry>
            <box size="0.25 0.08 0.02"/>
        </geometry>
        <origin xyz="0.125 0 0.01" rpy="0 0 0" />
    </collision>
    <!-- <inertial>
        <mass value="0"/>
        <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial> -->
</link>

<!-- Joint 1: rotation around X-axis -1.57079-->
<joint name="joint1" type="revolute">
    <parent link="base_link"/>
    <child link="link1"/>
    <axis xyz="0 0 1"/>
    <!-- <origin xyz="0 0 0.1" rpy="0 0 0"/> -->
    <!-- <origin xyz="0 0.05 0.05" rpy="-1.57079 0 -1.57079"/> -->
    <origin xyz="0 0.05 0.05" rpy="-1.57079 -1.57079 0"/>
    <limit lower="-3.141592653" upper="3.141592653" effort="0" velocity="0"/>
</joint>

<!-- Link 2 -->
<link name="link2">
    <visual>
        <geometry>
            <box size="0.25 0.08 0.02"/>
        </geometry>
        <origin xyz="0.125 0 0.01" rpy="0 0 0" />
        <material name="red">
            <color rgba="1.0 0 0 1"/>
        </material>
    </visual>
    <collision>
        <geometry>
            <box size="0.25 0.08 0.02"/>
        </geometry>
        <origin xyz="0.125 0 0.01" rpy="0 0 0" />
    </collision>
    <!-- <inertial>
        <mass value="0"/>
        <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial> -->
</link>

<!-- Joint 2: rotation around Y-axis -->
<joint name="joint2" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <axis xyz="0 0 1"/>
    <origin xyz="0.25 0 0.02" rpy="0 0 3.141592653" />
    <limit lower="-3.141592653" upper="3.141592653" effort="0" velocity="0" />
</joint>

<!-- Link 3 -->
<link name="link3">
    <visual>
        <geometry>
            <box size="0.06 0.07 0.05"/>
        </geometry>
        <origin xyz="0.03 0 0.025" rpy="0 0 0" />
        <material name="yellow">
            <color rgba="0.8 0.8 0 1"/>
        </material>
    </visual>
    <collision>
        <geometry>
            <box size="0.06 0.07 0.05"/>
        </geometry>
        <origin xyz="0.03 0 0.025" rpy="0 0 0" />
    </collision>
    <!-- <inertial>
        <mass value="0"/>
        <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial> -->
</link>

<!-- Joint 3: rotation around x-axis -->
<joint name="joint3" type="revolute">
    <parent link="link2"/>
    <child link="link3"/>
    <axis xyz="0 0 1"/>
    <origin xyz="0.22 0 0.02"/>
    <limit lower="-3.141592653" upper="3.141592653" effort="0" velocity="0" />
</joint>

<!-- Link_indicator 用来辅助显示方向的-->
<link name="link_indicator">
    <visual>
        <geometry>
            <box size="0.05 0.025 0.025"/>
        </geometry>
        <origin xyz="0 0 0.0125" rpy="0 0 0"/>
        <!-- <material name="purple">
            <color rgba="1.0 0 1.0 1"/>
        </material> -->
        <material name="yellow">
            <color rgba="0.8 0.8 0 1"/>
        </material>
    </visual>
</link>
<joint name="joint_indicator" type="fixed">
    <parent link="link3"/>
    <child link="link_indicator"/>
    <origin xyz="0 0 0.05"/>
</joint>

`

2.To open and preview this URDF file using this plugin in vscode.
3.Somehow to display this urdf using rviz.
4.Comparison of models displayed in vscode and rviz

expected behavior

<what you would expect to happen>
In theory, the coordinates and relationships between links of the urdf model in this plugin should be consistent with the model displayed in rviz.

additional context

<any additional information would be helpful for a better understanding>
The displayed model in rviz is the desired effect I want.
I personally think that the reason for this bug may be the incorrect order of rpy(link's or/and joint's), i.e., the execution order of rotation angles for the x, y, and z axes.

[ooeygui]

I just released 0.9.5 which includes numerous fixes to this codepath. Can you check it out and see if this fixes it for you?

[G-Yong]

V0.9.5 works.