The collision mesh is used for both the visual and the collision mesh, which results in the robot being displayed in a low poly state as it using the wrong files for visualisation. You could switch the files in the urdf file, that should fix that issue. The follow code should fix this issue. Note:- Pls change the urdf_test name to whatever package name you are using.
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from panda_arm_hand.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="panda_link0">
<visual>
<geometry>
<mesh filename="package://urdf_test/meshes/visual/link0.dae"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://urdf_test/meshes/collision/link0.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<link name="panda_link1">
<visual>
<geometry>
<mesh filename="package://urdf_test/meshes/visual/link1.dae"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://urdf_test/meshes/collision/link1.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="panda_link0"/>
<child link="panda_link1"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
</joint>
<link name="panda_link2">
<visual>
<geometry>
<mesh filename="package://urdf_test/meshes/visual/link2.dae"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://urdf_test/meshes/collision/link2.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link1"/>
<child link="panda_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.1750"/>
</joint>
<link name="panda_link3">
<visual>
<geometry>
<mesh filename="package://urdf_test/meshes/visual/link3.dae"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://urdf_test/meshes/collision/link3.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint3" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
<parent link="panda_link2"/>
<child link="panda_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
</joint>
<link name="panda_link4">
<visual>
<geometry>
<mesh filename="package://urdf_test/meshes/visual/link4.dae"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://urdf_test/meshes/collision/link4.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint4" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
<parent link="panda_link3"/>
<child link="panda_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-3.1416" upper="0.0" velocity="2.1750"/>
</joint>
<link name="panda_link5">
<visual>
<geometry>
<mesh filename="package://urdf_test/meshes/visual/link5.dae"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://urdf_test/meshes/collision/link5.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint5" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
<parent link="panda_link4"/>
<child link="panda_link5"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
</joint>
<link name="panda_link6">
<visual>
<geometry>
<mesh filename="package://urdf_test/meshes/visual/link6.dae"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://urdf_test/meshes/collision/link6.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint6" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link5"/>
<child link="panda_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.6100"/>
</joint>
<link name="panda_link7">
<visual>
<geometry>
<mesh filename="package://urdf_test/meshes/visual/link7.dae"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://urdf_test/meshes/collision/link7.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint7" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
<parent link="panda_link6"/>
<child link="panda_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
</joint>
<link name="panda_link8"/>
<joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
<parent link="panda_link7"/>
<child link="panda_link8"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="panda_hand_joint" type="fixed">
<parent link="panda_link8"/>
<child link="panda_hand"/>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
</joint>
<link name="panda_hand">
<visual>
<geometry>
<mesh filename="package://urdf_test/meshes/visual/hand.dae"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://urdf_test/meshes/collision/hand.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<link name="panda_leftfinger">
<visual>
<geometry>
<mesh filename="package://urdf_test/meshes/visual/finger.dae"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://urdf_test/meshes/collision/finger.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<link name="panda_rightfinger">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf_test/meshes/visual/finger.dae"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf_test/meshes/collision/finger.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_finger_joint1" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_leftfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
<joint name="panda_finger_joint2" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_rightfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 -1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
<mimic joint="panda_finger_joint1"/>
</joint>
<material name="panda_white">
<color rgba="1. 1. 1. 1."/>
</material>
</robot>
The collision mesh is used for both the visual and the collision mesh, which results in the robot being displayed in a low poly state as it using the wrong files for visualisation. You could switch the files in the urdf file, that should fix that issue. The follow code should fix this issue. Note:- Pls change the urdf_test name to whatever package name you are using.