ros机器人urdf建模

问题遇到的现象和发生背景

各位大家好，在用ROS仿真的时候遇到一个问题，希望指点，提前谢谢啦！
问题如下，我写好了一个urdf文件的简单模型，用来模拟立柱升降，rviz和gazebo的结果：

代码如下：

<?xml version="1.0"?>
<robot name = "column">
    <link name = "world"/>

    <joint name = "fixed" type = "fixed">
        <parent link = "world"/>
        <child link = "base_link"/>
    </joint>

    <link name = "base_link">
        <visual>
            <origin xyz = "0 0 0.08" rpy = "0 0 0"/>
            <geometry>
                <box size = "0.5 0.3 0.16"/>
            </geometry>
            <material name = "silver">
                <color rgba = "0.75 0.75 0.75 1"/>
            </material>
        </visual>
        <collision>
            <origin xyz = "0 0 0.08" rpy = "0 0 0"/>
            <geometry>
                <box size = "0.5 0.3 0.16"/>
            </geometry>
        </collision>
        <inertial>
            <mass value = "0.5"/>
            <inertia ixx = "0.02" iyy = "0.06" izz = "0.04" ixy = "0" ixz = "0" iyz = "0"/>
        </inertial>
    </link>

    <joint name = "joint0" type = "fixed">
        <origin xyz = "0 0 0.16" rpy = "0 0 0"/>
        <parent link = "base_link"/>
        <child link = "column1"/>
    </joint>

    <link name = "column1">
        <visual>
            <origin xyz = "0 0 0.28" rpy = "0 0 0"/>
            <geometry>
                <box size = "0.2 0.1 0.56"/>
            </geometry>
            <material name = "silver">
                <color rgba = "0.75 0.75 0.75 1"/>
            </material>
        </visual>
        <collision>
            <origin xyz = "0 0 0.28" rpy = "0 0 0"/>
            <geometry>
                <box size = "0.2 0.1 0.56"/>
            </geometry>
        </collision>
        <inertial>
            <mass value = "1"/>
            <inertia ixx = "1" iyy = "1" izz = "1" ixy = "0" ixz = "0" iyz = "0"/>
        </inertial>
    </link>

启动的launch文件如下：
rviz

<launch>
    <param name = "robot_description" textfile = "$(find column_pkg)/urdf/column.urdf"/>
    
    <node name = "joint_state_publisher_gui" pkg = "joint_state_publisher_gui" type = "joint_state_publisher_gui"/>
    <node name = "robot_state_publisher" pkg = "robot_state_publisher" type = "robot_state_publisher"/>
    
</launch>

gazebo

<launch>
    <param name = "robot_description" textfile = "$(find column_pkg)/urdf/column.urdf"/>
    <include file = "$(find gazebo_ros)/launch/empty_world.launch"/>
    <node name ="spawn_urdf" pkg = "gazebo_ros" type = "spawn_model" args = "-param robot_description -urdf -model column"/>
</launch>

然而在rviz和gazebo中出现的初始模型不一样，这个问题怎么解决？

操作环境、软件版本等信息

操作环境：ubuntu20.4 ros noetic

尝试过的解决方法

尝试过修改limit词条，无效