Corrects the parent/child relation of joints 1.

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index fa722fc..d019747 100644 (file)
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -74,8 +74,8 @@
  </link>
 
   <joint name="little_j1" type="revolute">
-    <origin xyz="0.11977 -0.003 -0.04062" rpy="-0.034907 0.087266 0" />
-    <parent link="base_link" />
+    <origin xyz="0 0 0" rpy="0.0388143979639 0 0" />
+    <parent link="little_l0" />
     <child link="little_l1" />
     <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />
@@ -183,8 +183,8 @@
  </link>
 
   <joint name="ring_j1" type="revolute">
-    <origin xyz="0.12886 0.003 -0.017716" rpy="0 0.034907 0" />
-    <parent link="base_link" />
+    <origin xyz="0 0 0" rpy="-0.167747119817 0 0" />
+    <parent link="ring_l0" />
     <child link="ring_l1" />
     <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />
@@ -292,8 +292,8 @@
  </link>
 
   <joint name="middle_j1" type="revolute">
-    <origin xyz="0.1285 0.003 0.007" rpy="0.061087 0 0" />
-    <parent link="base_link" />
+    <origin xyz="0 0 0" rpy="0.465978796285 0 0" />
+    <parent link="middle_l0" />
     <child link="middle_l1" />
     <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />
@@ -401,8 +401,8 @@
  </link>
 
   <joint name="index_j1" type="revolute">
-    <origin xyz="0.12828 0 0.030847" rpy="0.10135 -0.017453 0" />
-    <parent link="base_link" />
+    <origin xyz="0 0 0" rpy="0.10135 0 0" />
+    <parent link="index_l0" />
     <child link="index_l1" />
     <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" /> 
@@ -510,8 +510,8 @@
  </link>
 
   <joint name="thumb_j1" type="revolute">
-    <origin xyz="0.070929 0.00034464 0.043575" rpy="0.87266 0 1.5708" />
-    <parent link="base_link" />
+    <origin xyz="0 0.00034464 0" rpy="0.87266 0 0" />
+    <parent link="thumb_l0" />
     <child link="thumb_l1" />
     <axis xyz="0 0 1" />
     <limit lower="0" upper="1.57" effort="0.37" velocity="5.61" />