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I figure out how to solve this problem for a UR robot. Just modify the .xacro file. In .xacro file we can modify the origin pose of virtual joints

<!-- joints: main serial chain -->
<joint name="${prefix}base_link-base_link_inertia" type="fixed">
  <parent link="${prefix}base_link" />
  <child link="${prefix}base_link_inertia" />
  <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
       frames of the robot/controller have X+ pointing backwards.
       Use the joint between 'base_link' and 'base_link_inertia' (a dummy
       link/frame) to introduce the necessary rotation over Z (of pi rad).
  -->
  <origin xyz="0 0 0" rpy="0 0 ${pi}" />
</joint>

just change <origin xyz="0 0 0" rpy="0 0 ${pi}" /> to <origin xyz="0 0 0" rpy="0 ${pi/2} ${pi}" />can solve my problem.

But I still wonder if we can done this through in a programming way.