URDF joint not Rotate about its origin

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Hi all ,

I create a one URDF file from Solidworks and i tried to rotate its joint . then i get Wrong origin of joint . i mean when i rotate joint of Robotic arm its rotate about its base joint not about its axis . i need to define cooridante frame in specific direction or need to create every joint cooridante system in specific directions

here is my URDF code :-

<?xml version ="1.0"?>
<robot name="ros_as">

<link name="world"/>
  <link name="base_link">

<inertial>
 <mass value="0.11529" />
<inertia ixx="9.8E-05" ixy="-1.15E-05"  ixz="8.6465E-05" iyy="4.444E-05" iyz="-3.4586E-05" izz="4.73321E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 -1.7 0" />
      <geometry>
        <mesh filename="package://ros_as/meshes/base_link.STL" />
      </geometry>
      <material name="">
        <color rgba="0.77647 0.75686 0.73725 1" />
      </material>
    </visual>
  </link>

  <link name="link1">

<inertial>
<mass value="0.11529" />
<inertia ixx="1.2008E-05" ixy="-4.262E-05"  ixz="-2.59095E-05" iyy="2.743395E-05" iyz="4.1807E-05" izz="2.794303E-05" />
    </inertial>
    <visual>
      <origin xyz="0.001 -0.038 0.02" rpy="-1.7 0 0" />
      <geometry>
        <mesh filename="package://ros_as/meshes/link1.STL" />
      </geometry>
      <material name="">
        <color rgba="0.77647 0.75686 0.73725 1" />
      </material>
    </visual>
  </link>



  <link name="link2">

<inertial>
<mass value="0.11529" />
<inertia ixx="3.46069E-05" ixy="-7.86556E-05" ixz="-1.295125E-05" iyy="7.548495E-05" iyz="1.42141E-05" izz="7.410357E-05" />
    </inertial>
    <visual>
      <origin xyz="0.001 -0.066 0.05" rpy="-1.7 0 0" />
      <geometry>
        <mesh filename="package://ros_as/meshes/link2.STL" />
      </geometry>
      <material name="">
        <color rgba="0.77647 0.75686 0.73725 1" />
      </material>
    </visual>

  </link>

<joint name="j0" type="fixed">
    <parent link="world" />
    <child link="base_link" />
  <origin xyz="0 0 0" rpy="0 0 0" />
</joint>

  <joint name="j1" type="revolute">
    <parent link="base_link" />
    <child link="link1" />
    <origin xyz="0.03593 0 0" rpy="-1.5708 0 1.657" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="20" velocity="5" />
  </joint>

  <joint name="j2" type="revolute">
    <parent link="link1" />
    <child link="link2" />
    <origin  xyz="0 -0.01 -0.03593" rpy="0 0.034067 0" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="20" velocity="5" />
  </joint>

<transmission name="tran0">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor0">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j2">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<gazebo>
<plugin name="control" filename="libgazebo_ros_control.so"/>
</gazebo>

</robot>