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rviz disagrees with gazebo visuals?

I've been modelling a new robot in URDF, and I tweaked the URDF using the urdf_tutorial package's xacrodisplay.launch to verify the model. I recently started using meshes to get a better visual look, and I have run into an issue where the visuals between the rviz from xacrodisplay and gazebo are different. If I line up the mesh checking by rotations / translations in rviz, and then switch to gazebo, it is all jacked up. See the images below for comparison (this is just after I tried to "fix" it in gazebo). I'm trying to figure out why the representations would be different when working from the same URDF file (available for inspection here).

Rviz

Gazebo