URDF Link origin test

<?xml version="1.0"?>
<robot name="myfirst">
    <link name="base_link">
        <visual>
            <geometry>
                <cylinder length="0.6" radius="0.2"/>
            </geometry>
        </visual>
    </link>
</robot>

<?xml version="1.0"?>
<robot name="myfirst">
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.6" radius="0.2"/>
      </geometry>
      <origin xyz="0.5 0 0" rpy="0 0 0" />
    </visual>
  </link>
</robot>



<?xml version="1.0"?>
<robot name="myfirst">
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.6" radius="0.2"/>
      </geometry>
      <origin xyz="0 0 0" rpy="1.57075 0 0" />
    </visual>
  </link>
</robot>