Urdf displays correcly in urdf-viz but not Rviz and Gazebo

edit

Hello Everyone

New to ROS and i'm trying to import a CAD model via simmechanics_to_urdf.

If i open the urdf in urdf-viz ( https://github.com/OTL/urdf-viz ) i get a proper model and can move the joints.

However if i open the same urdf and meshes in either Rviz or Gazebo the parts show up in strange positions. (mostly around the origin).

edit: seems the issue was at least in part the lack of a fixed joint at the base to apparently anchor the model. As soon as I added a fixed base joint everything started working in Rviz. Gazebo still has the same issue. urdf-viz does not require the fixed base joint so it would display correctly regardless

Any ideas? Sorry i don't have a better vocabulary to explain the issue.

 <robot name="finger">
  <link name="base_link" />
  <link name="base8">
    <inertial>
      <origin xyz="-1.26773e-06 0.000427739 0.00546823" rpy="0 0 0"/>
      <mass value="0.00171993"/>
      <inertia ixx="4.15282e-08" ixy="3.76912e-12" ixz="3.81441e-12" iyy="9.2702e-08" iyz="-1.64114e-09" izz="9.15731e-08"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0.0114743" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://finger_description/meshes/base8_ipt_11dce11d.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="base8_color">
        <color rgba="0.74902 0.74902 0.74902 1.0"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.0114743" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://finger_description/meshes/base8_ipt_11dce11d.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="finger_segment1">
    <inertial>
      <origin xyz="0.00449723934 0.00021284299985 0.0071977" rpy="0 0 0"/>
      <mass value="0.00199166"/>
      <inertia ixx="1.06576e-07" ixy="1.37509e-11" ixz="3.64504e-11" iyy="1.21654e-07" iyz="-3.77147e-09" izz="5.43651e-08"/>
    </inertial>
    <visual>
      <origin xyz="0.0045 -1.77523001664e-05 0.008" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://finger_description/meshes/finger_segment_ipt_544d6e46.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="finger_segment1_color">
        <color rgba="0.74902 0.74902 0.74902 1.0"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0045 -1.77523001664e-05 0.008" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://finger_description/meshes/finger_segment_ipt_544d6e46.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="finger_segment1__base8" type="continuous">
    <origin xyz="-0.0045 0 0.0114743" rpy="0 0 0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="base8"/>
    <child link="finger_segment1"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="finger_segment2">
    <inertial>
      <origin xyz="0.00449723934 0.000212842999506 0.0071977" rpy="0 0 0"/>
      <mass value="0.00199166"/>
      <inertia ixx="1.06576e-07" ixy="1.37509e-11" ixz="3.64504e-11" iyy="1.21654e-07" iyz="-3.77147e-09" izz="5.43651e-08"/>
    </inertial>
    <visual>
      <origin xyz="0.0045 -1.77523005075e-05 0.008" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://finger_description/meshes/finger_segment_ipt_544d6e46.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="finger_segment2_color">
        <color rgba="0.74902 0.74902 0.74902 1.0"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0045 -1.77523005075e-05 0.008" rpy="0 0 0"/>
      <geometry>
        <mesh ...