URDF visual meshes incorrect?

[trzy]

I've tried loading the URDF with both pybullet and klampt but the result always seems disjointed and incorrect. I'm not sure what the issue is but I suspect it is with the URDF file. I loaded the link STL and DAE files in Blender and the origin points seemed reasonable. Here is how it looks in both of the aforementioned tools.

I think the kinematic chain itself is ok because plotting the joints and links in roboticstoolbox and my own viewer appears fine.

[bmagyar]

Which branch? I've tested things from the Humble branch today, running on Jazzy (hah!) and it was fine.

[RosenYin]

我修改了新的urdf文件，并修改了末端的坐标系方向，令其与机械臂底层sdk反馈的endpose对齐；还附着了颜色，可以查看最新的urdf