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After a brief play with urdf file i fixed it. I inverted the sign of base_plate origin's Y co-ordinate.

Error:

<inertial>
      <origin
        xyz="-0.3317 **-0.71959** -0.39019"
        rpy="0 0 0" />

Solution:

 <inertial>
      <origin
        xyz="-0.3317 **0.71959** -0.39019"
        rpy="0 0 0" />

After a brief play with urdf file i fixed it. I inverted the sign of base_plate origin's Y co-ordinate.

Error:

<inertial>
      <origin
        xyz="-0.3317 **-0.71959** -0.71959 -0.39019"
        rpy="0 0 0" />

Solution:

 <inertial>
      <origin
        xyz="-0.3317 **0.71959** 0.71959 -0.39019"
        rpy="0 0 0" />