Coordinate of URDF model

[kangbojk]

Hi
I'm creating a URDF model, and I use pr2 as my reference.

Want to ask that I opened the pr2_description mesh in Blender, Head part .STL is Z-upward, but .DAE is Y-upward. However, both of these meshes will behave Z-upward in Rviz.

I used my own component to compare, it's Y-oriented(solidworks exported), so it just lay down on the ground in both Blender and Rviz, but I want it to be in vertical position, just as the neutral position of human arm.

So how do you do to make the meshes perform correct in Rviz?

Two .dae on left, my component in the middle, .stl on right, example of Rviz