Generated Schunk .urdf has incorrect orientations

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Hello,

I am working with a Schunk LWA 3 (dof 7) arm and controlling it through MoveIt!

I use the below schunk.urdf.xacro and $rosrun xacro xacro.py schunk.urdf.xacro > lwa.urdf to generate a "high-level" urdf file. The attached file calls the lwa.urdf.xacro from Schunk Description

When I use the resulting urdf in MoveIt! setup assistant everything is fine except that the gripper is inverted and the arm is orientated along the -Z axis.

My question is where do I fix the issue? All the values seem to be positive and correct in the urdf's I am using. Where does this change in orientation come from ?

Thank you for your time.

Schunk.urdf.xacro:

<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
name="schunk" >

<!-- schunk arm -->
<include filename="$(find schunk_description)/urdf/lwa/lwa.urdf.xacro" />

<!-- schunk gripper -->
<include filename="$(find schunk_description)/urdf/pg70/pg70.urdf.xacro" />


<!-- foot for arm-->

<link name="base_link">

<inertial>

<origin xyz="0 0 0" rpy="0 0 0"/>

<mass value="10.0"/>

<inertia ixx="0.1"  ixy="0"  ixz="0" iyy="0.1" iyz="0" izz="0.1" />

</inertial>

</link>

<xacro:schunk_lwa name="arm" parent="base_link">

<origin xyz="0 0 0" rpy="0 0 0" />

</xacro:schunk_lwa>

<xacro:schunk_pg70 name="gripper" parent="arm_7_link">

<origin xyz="0 0 0" rpy="0 0 0" />

</xacro:schunk_pg70>

</robot>