[ros-users] Combining rotations in urdf model

Hello everybody,

I am currently trying to rotate a mesh around the z axis first, and then
around the y axis in a urdf 3d model. However, the model uses rpy, and
first executes the rotation around y, and then around z. This is what I
currently have: <origin xyz="0.0 0 0.0" rpy="0 0.314 1.57"/>. Does
anybody know how to change the angles and coordinates to get the right
orientation or how to specify the order of rotations?

Thanks,
Kirila