Correção Polegar.

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index e8a822c..12bf1ef 100644 (file)
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -501,11 +501,11 @@
  </link>
      
   <joint name="thumb_j2" type="revolute">      
-    <origin xyz="0 0.03 0" rpy="1.5708 -1.5708 0" />      
+    <origin xyz="0 0.03 0" rpy="-1.5708 0 0" />      
      <parent link="thumb_l1" />      
      <child link="thumb_l2" />      
     <axis xyz="0 0 1" />      
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />      
+    <limit lower="-3.14" upper="-1.57" effort="0.37" velocity="5.61" />      
   </joint>      
   
  <link name="thumb_l3">      
@@ -539,7 +539,7 @@
      <child link="thumb_l3" />      
     <axis xyz="0 0 1" />      
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
-    <mimic joint="thumb_j2" multiplier="1" offset="0" />      
+    <mimic joint="thumb_j2" multiplier="1" offset="1.57" />      
   </joint>    
     
 <transmission name="thumb1_transmission">    
@@ -577,7 +577,7 @@
        <joint>thumb_j3</joint>    
        <mimicJoint>thumb_j2</mimicJoint>    
        <multiplier>1.0</multiplier>    
-       <offset>0.0</offset>    
+       <offset>1.57</offset>    
        <maxEffort>30.0</maxEffort>    
        <sensitiveness>0.0</sensitiveness>    
   </plugin>