URDF file read ERROR

[Zcyyy]

When I load the same URDF file using ROS and RBDL-Toolkit, their results are different? The URDF displayed by rBDL-Toolkit is incorrect. How can I solve this problem?
The urdf in ros rviz

The urdf in RBDL_toolkit

[ju6ge]

There can be multiple reasons for the results looking different, most commonly it is due to the meshes being off center. The other explanation may be a bug in urdf-handling. Most people I know of using rbdl and the toolkit are using lua models. So the urdf code of rbdl has not received the same amount of attention as the lua model code. I can not tell you what is happening, you will have to figure that out yourself.