While using Swift, I have noticed that a URDF file containing a joint axis that is not aligned with one of the three frame axis (either x, y or z) gets the wrong number of DoFs. Although I noticed this while using Swift, I suspect that it might be due to this part of the code:

If I am correct, do you have a suggestion on how to fix this issue that does not involve changing the URDF?
Thank you in advance for your support and of course for sharing your code!