URDF
https://gyazo.com/8911bd46b47074a3ae3e65d3fdba6949
The collada model of origin shold be located at (0,0,0.97) in the WAIST link coordinate, because the origin of link coordinate is located at (0,0,-0.97) in 3D model.
code:xml
<link name="WAIST">
<visual>
<origin xyz="0 0 0.97" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/WAIST_Link_mesh.dae" scale="1 1 1" />
</geometry>
</visual>
</link>