Coordinate system of URDF model

Hi, thank you for the time. I made a urdf model from two sub-models. The problem is one is Z-up left-handed system and the other is Y-up Right-handed. There is a parameter to control it: flip_visual_attachments. So is there any way to make the two model same coordinate system?
Thank you!


found some useful links:
https://github.com/personalrobotics/or_urdf/issues/33
https://github.com/fetchrobotics/fetch_ros/pull/69
https://github.com/jontromanab/or_urdf/blob/dae_fix/scripts/process_urdf.py
https://github.com/blodow/realtime_urdf_filter/issues/22
https://github.com/ros-visualization/rviz/issues/1045