URDF preview cannot handle glb origin correctly

[paperchalice]

If urdf link mesh is glb format the origin section in link and joint has no effect, fine in rviz2.

[ranchhandrobotics]

@paperchalice can you give an example urdf and glb?

[paperchalice]

@paperchalice can you give an example urdf and glb?

URDF:

<?xml version="1.0" encoding="UTF-8"?>
<robot
  xmlns:xacro="http://www.ros.org/wiki/xacro"
  name="Suzanne">

  <link name="Suzanne">
    <visual>
      <origin rpy="0 0 1.57" />
      <geometry>
        <mesh filename="${prefix}/Suzanne.glb" />
      </geometry>
    </visual>
  </link>
</robot>

Suzanne.stl: https://upload.wikimedia.org/wikipedia/commons/e/e3/Suzanne.stl

Suzanne.zip, which contains Suzanne.glb

When using stl, Suzanne can look at +x, but it can't when using glb.

[ranchhandrobotics]

Thank you!