关于SW导出URDF模型后的joint错乱解决方法

今天在导出urdf模型时出现了一个问题，在rviz中显示发现有个joint并非预期的状态

如下图所示，其中joint2发生了错乱：

原始的urdf文件：

<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="se3_description">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.03371927358229 -0.00693912573462216 0.0104320457667665"
        rpy="0 0 0" />
      <mass
        value="0.0392752456357408" />
      <inertia
        ixx="3.53570667271846E-05"
        ixy="-1.01748508645426E-07"
        ixz="-3.26773683852075E-06"
        iyy="8.15549885015669E-05"
        iyz="-2.3165541587359E-08"
        izz="4.66619387588186E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://se3_description/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://se3_description/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="link_1">
    <inertial>
      <origin
        xyz="-0.000126481098028286 0.113860770319563 0.0461074749661343"
        rpy="0 0 0" />
      <mass
        value="0.58138071708807" />
      <inertia
        ixx="0.00663535213769273"
        ixy="3.7342748087488E-05"
        ixz="1.76239221832555E-05"
        iyy="0.00234801409041878"
        iyz="-0.00200710400614651"
        izz="0.00518727033246825" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://se3_description/meshes/link_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://se3_description/meshes/link_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_1"
    type="revolute">
    <origin
      xyz="0 -0.027 0"
      rpy="1.5708 0 0" />
    <parent
      link="base_link" />
    <child
      link="link_1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3"
      upper="3"
      effort="10"
      velocity="3" />
  </joint>
  <link
    name="link_2">
    <inertial>
      <origin
        xyz="4.94785167774615E-05 -0.069214178098863 -0.0759822559756005"
        rpy="0 0 0" />
      <mass
        value="0.521067333651935" />
      <inertia
        ixx="0.00460318945281812"
        ixy="-9.93846010494784E-07"
        ixz="-7.69240774141828E-07"
        iyy="0.00331465631266174"
        iyz="-0.00168475685461746"
        izz="0.00205663407045774" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://se3_description/meshes/link_2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://se3_description/meshes/link_2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_2"
    type="revolute">
    <origin
      xyz="0 0.214 0.154"
      rpy="1.5708 -1.5708 0" />
    <parent
      link="link_1" />
    <child
      link="link_2" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3"
      upper="3"
      effort="10"
      velocity="3" />
  </joint>
  <link
    name="link_3">
    <inertial>
      <origin
        xyz="-0.000731519171781902 -1.71491504873632E-06 -0.00538666392288201"
        rpy="0 0 0" />
      <mass
        value="0.10045352817017" />
      <inertia
        ixx="9.34891802432462E-05"
        ixy="4.65932230785616E-09"
        ixz="-1.39286122821083E-06"
        iyy="8.99853824182183E-05"
        iyz="9.16498804670062E-09"
        izz="0.000125232591895938" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://se3_description/meshes/link_3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://se3_description/meshes/link_3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_3"
    type="revolute">
    <origin
      xyz="4.6717E-05 -0.1685 -0.214"
      rpy="1.5708 1.5708 0" />
    <parent
      link="link_2" />
    <child
      link="link_3" />
    <axis
      xyz="0 0.00027725 1" />
    <limit
      lower="-3"
      upper="3"
      effort="10"
      velocity="3" />
  </joint>
  <link
    name="link_4">
    <inertial>
      <origin
        xyz="-0.132285786719768 2.73290738104538E-06 0.00978894034881642"
        rpy="0 0 0" />
      <mass
        value="0.640378439560018" />
      <inertia
        ixx="0.000728261712425884"
        ixy="3.35095189027826E-08"
        ixz="0.000113448744553883"
        iyy="0.00661754544710492"
        iyz="1.86280465164432E-07"
        izz="0.00728986050460479" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://se3_description/meshes/link_4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://se3_description/meshes/link_4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_4"
    type="fixed">
    <origin
      xyz="0.285 0 0"
      rpy="0 0 0" />
    <parent
      link="link_3" />
    <child
      link="link_4" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>

目前这个位姿不是我先前在SW中定义的，下面给出解决方法：

将joint2部分的原始xml代码：

 <joint
    name="joint_2"
    type="revolute">
    <origin
      xyz="0 0.214 0.154"
      rpy="1.5708 -1.5708 0" />
    <parent
      link="link_1" />
    <child
      link="link_2" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3"
      upper="3"
      effort="10"
      velocity="3" />
  </joint>

中的origin标签的rpy部分进行改动，我将rpy中的y改为了3.14（原先是0）

    <origin
      xyz="0 0.214 0.154"
      rpy="1.5708 -1.5708 3.14" />

再次启动rviz，发现问题得到了解决：

上图中外骨骼的urdf显示为正常状态