Fix base_joint.

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index 5f3c1a4..0bf5e88 100644 (file)
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -7,6 +7,7 @@
   <joint name="origin_joint" type="fixed" >
    <parent link="world"/>
    <child link="origin_link"/>
+   <origin xyz="0 0 0" rpy="1.5708 0 0"/>
   </joint>
 
  <link name="base_link">
@@ -35,7 +36,7 @@
  </link>
 
   <joint name="base_joint" type="fixed" >
-    <origin xyz="0 0 0" rpy="0 -1.5708 0" />
+    <origin xyz="0 0 0" rpy="0 0 1.5708" />
     <parent link="origin_link"/>    
     <child link="base_link"/>      
   </joint>