From: Gabriel Schmitz <gschmitz@ece.ufrgs.br>
Date: Fri, 11 Jan 2019 19:35:04 +0000 (-0200)
Subject: Novo arquivo URDF.
X-Git-Tag: sbai2019submitted~35
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=169cf86272bac4fcd5938b7d243df71c5e6ebaef;p=users%2Fgschmitz%2Fmiitzhand.git

Novo arquivo URDF.
---

diff --git a/miitzhand_description/meshes/Ane_L1.STL b/miitzhand_description/meshes/Ane_L1.STL
index 0f3479c..f13b778 100644
Binary files a/miitzhand_description/meshes/Ane_L1.STL and b/miitzhand_description/meshes/Ane_L1.STL differ
diff --git a/miitzhand_description/meshes/Ane_L2.STL b/miitzhand_description/meshes/Ane_L2.STL
index c4a1262..71f92eb 100644
Binary files a/miitzhand_description/meshes/Ane_L2.STL and b/miitzhand_description/meshes/Ane_L2.STL differ
diff --git a/miitzhand_description/meshes/Ane_L3.STL b/miitzhand_description/meshes/Ane_L3.STL
index 6b376af..9231dc9 100644
Binary files a/miitzhand_description/meshes/Ane_L3.STL and b/miitzhand_description/meshes/Ane_L3.STL differ
diff --git a/miitzhand_description/meshes/Ind_L1.STL b/miitzhand_description/meshes/Ind_L1.STL
index f0e1766..a877baa 100644
Binary files a/miitzhand_description/meshes/Ind_L1.STL and b/miitzhand_description/meshes/Ind_L1.STL differ
diff --git a/miitzhand_description/meshes/Ind_L2.STL b/miitzhand_description/meshes/Ind_L2.STL
index ff32134..6bd73ac 100644
Binary files a/miitzhand_description/meshes/Ind_L2.STL and b/miitzhand_description/meshes/Ind_L2.STL differ
diff --git a/miitzhand_description/meshes/Ind_L3.STL b/miitzhand_description/meshes/Ind_L3.STL
index 5f96f3d..aff740a 100644
Binary files a/miitzhand_description/meshes/Ind_L3.STL and b/miitzhand_description/meshes/Ind_L3.STL differ
diff --git a/miitzhand_description/meshes/Med_L1.STL b/miitzhand_description/meshes/Med_L1.STL
index efa5e5b..6a8fbe9 100644
Binary files a/miitzhand_description/meshes/Med_L1.STL and b/miitzhand_description/meshes/Med_L1.STL differ
diff --git a/miitzhand_description/meshes/Med_L2.STL b/miitzhand_description/meshes/Med_L2.STL
index faff97b..4d4577a 100644
Binary files a/miitzhand_description/meshes/Med_L2.STL and b/miitzhand_description/meshes/Med_L2.STL differ
diff --git a/miitzhand_description/meshes/Med_L3.STL b/miitzhand_description/meshes/Med_L3.STL
index 3b1ee01..cacd649 100644
Binary files a/miitzhand_description/meshes/Med_L3.STL and b/miitzhand_description/meshes/Med_L3.STL differ
diff --git a/miitzhand_description/meshes/Min_L1.STL b/miitzhand_description/meshes/Min_L1.STL
index ab776b8..e5e00e9 100644
Binary files a/miitzhand_description/meshes/Min_L1.STL and b/miitzhand_description/meshes/Min_L1.STL differ
diff --git a/miitzhand_description/meshes/Min_L2.STL b/miitzhand_description/meshes/Min_L2.STL
index 4d1747a..e754632 100644
Binary files a/miitzhand_description/meshes/Min_L2.STL and b/miitzhand_description/meshes/Min_L2.STL differ
diff --git a/miitzhand_description/meshes/Min_L3.STL b/miitzhand_description/meshes/Min_L3.STL
index 9cc8e1f..71ca030 100644
Binary files a/miitzhand_description/meshes/Min_L3.STL and b/miitzhand_description/meshes/Min_L3.STL differ
diff --git a/miitzhand_description/meshes/Pol_L1.STL b/miitzhand_description/meshes/Pol_L1.STL
index 6b15b13..c158838 100644
Binary files a/miitzhand_description/meshes/Pol_L1.STL and b/miitzhand_description/meshes/Pol_L1.STL differ
diff --git a/miitzhand_description/meshes/Pol_L2.STL b/miitzhand_description/meshes/Pol_L2.STL
index a5f124f..7562629 100644
Binary files a/miitzhand_description/meshes/Pol_L2.STL and b/miitzhand_description/meshes/Pol_L2.STL differ
diff --git a/miitzhand_description/meshes/Pol_L3.STL b/miitzhand_description/meshes/Pol_L3.STL
index ba04a01..cce5eb3 100644
Binary files a/miitzhand_description/meshes/Pol_L3.STL and b/miitzhand_description/meshes/Pol_L3.STL differ
diff --git a/miitzhand_description/meshes/base_link.STL b/miitzhand_description/meshes/base_link.STL
index 344a677..c897e68 100644
Binary files a/miitzhand_description/meshes/base_link.STL and b/miitzhand_description/meshes/base_link.STL differ
diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index c9a7b63..04fa114 100644
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -12,17 +12,17 @@
     name="base_link">
     <inertial>
       <origin
-        xyz="0.00038989 -0.11993 0.032281"
+        xyz="-0.00037528 0.0019284 0.070349"
         rpy="0 0 0" />
       <mass
-        value="1.0706" />
+        value="0.16469" />
       <inertia
-        ixx="0.0047736"
-        ixy="4.2389E-06"
-        ixz="-3.3527E-05"
-        iyy="0.0049052"
-        iyz="-7.9528E-06"
-        izz="0.0054906" />
+        ixx="0.0002481"
+        ixy="-3.8181E-06"
+        ixz="1.5344E-06"
+        iyy="0.00015717"
+        iyz="-1.4443E-06"
+        izz="0.00010769" />
     </inertial>
     <visual>
       <origin
@@ -35,7 +35,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -51,22 +51,22 @@
 <joint name="origin_joint" type="fixed" >
 		<parent link="origin_link"/>
 		<child link="base_link"/>
-	</joint>
+</joint>
   <link
     name="Min_L1">
     <inertial>
       <origin
-        xyz="-0.011921 -0.00021661 0.02162"
+        xyz="-0.01191 0.00021661 -0.02162"
         rpy="0 0 0" />
       <mass
-        value="0.011049" />
+        value="0.0096962" />
       <inertia
-        ixx="2.7163E-06"
-        ixy="-5.3643E-11"
-        ixz="1.6298E-11"
-        iyy="2.7469E-06"
-        iyz="-6.4519E-08"
-        izz="5.2852E-07" />
+        ixx="2.3836E-06"
+        ixy="4.7052E-11"
+        ixz="-1.4317E-11"
+        iyy="2.4105E-06"
+        iyz="-5.6617E-08"
+        izz="4.6379E-07" />
     </inertial>
     <visual>
       <origin
@@ -79,7 +79,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -96,8 +96,8 @@
     name="Min_J1"
     type="revolute">
     <origin
-      xyz="0.028803 -0.12258 0.17082"
-      rpy="0.1079 -0.087213 3.1066" />
+      xyz="0.0025843 0.028763 0.1208"
+      rpy="-3.0895 -0.087213 -1.6058" />
     <parent
       link="base_link" />
     <child
@@ -114,17 +114,17 @@
     name="Min_L2">
     <inertial>
       <origin
-        xyz="-0.011023 -0.00039673 0.010872"
+        xyz="0.011045 -0.00039673 -0.010872"
         rpy="0 0 0" />
       <mass
-        value="0.0060006" />
+        value="0.0052657" />
       <inertia
-        ixx="6.9826E-07"
-        ixy="-2.9991E-10"
-        ixz="-2.5271E-11"
-        iyy="7.1823E-07"
-        iyz="-2.898E-08"
-        izz="2.6724E-07" />
+        ixx="6.1275E-07"
+        ixy="2.6274E-10"
+        ixz="-2.2276E-11"
+        iyy="6.3027E-07"
+        iyz="2.5431E-08"
+        izz="2.3451E-07" />
     </inertial>
     <visual>
       <origin
@@ -137,7 +137,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -154,14 +154,14 @@
     name="Min_J2"
     type="revolute">
     <origin
-      xyz="-0.00089571 0 0.047"
-      rpy="0.0015828 1.1709E-17 7.2164E-16" />
+      xyz="-0.00086261 0 -0.047"
+      rpy="-0.0021314 -1.4017E-15 3.1416" />
     <parent
       link="Min_L1" />
     <child
       link="Min_L2" />
     <axis
-      xyz="-1 0 0" />
+      xyz="1 0 0" />
     <limit
       lower="0"
       upper="1.57"
@@ -172,17 +172,17 @@
     name="Min_L3">
     <inertial>
       <origin
-        xyz="-0.010381 -0.00045398 0.0099715"
+        xyz="-0.010333 -0.00045398 0.0099715"
         rpy="0 0 0" />
       <mass
-        value="0.0056943" />
+        value="0.0049969" />
       <inertia
-        ixx="5.6108E-07"
-        ixy="7.2766E-11"
-        ixz="8.6273E-12"
-        iyy="5.2785E-07"
-        iyz="-2.8701E-08"
-        izz="1.9576E-07" />
+        ixx="4.9237E-07"
+        ixy="6.387E-11"
+        ixz="7.6183E-12"
+        iyy="4.632E-07"
+        iyz="-2.5186E-08"
+        izz="1.7179E-07" />
     </inertial>
     <visual>
       <origin
@@ -195,7 +195,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -212,8 +212,8 @@
     name="Min_J3"
     type="revolute">
     <origin
-      xyz="-0.00064509 0 0.0267"
-      rpy="-0.074153 -6.0828E-15 -5.4332E-15" />
+      xyz="0.00071495 0 -0.0267"
+      rpy="-3.0794 0 3.1416" />
     <parent
       link="Min_L2" />
     <child
@@ -230,17 +230,17 @@
     name="Ane_L1">
     <inertial>
       <origin
-        xyz="-0.011514 -0.00021662 0.02162"
+        xyz="-0.01127 0.00021662 -0.02162"
         rpy="0 0 0" />
       <mass
-        value="0.011049" />
+        value="0.0096962" />
       <inertia
-        ixx="2.7163E-06"
-        ixy="-5.3773E-11"
-        ixz="1.5884E-11"
-        iyy="2.7469E-06"
-        iyz="-6.4518E-08"
-        izz="5.2852E-07" />
+        ixx="2.3836E-06"
+        ixy="4.7182E-11"
+        ixz="-1.3932E-11"
+        iyy="2.4105E-06"
+        iyz="-5.6617E-08"
+        izz="4.6379E-07" />
     </inertial>
     <visual>
       <origin
@@ -253,7 +253,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -270,8 +270,8 @@
     name="Ane_J1"
     type="revolute">
     <origin
-      xyz="0.0062608 -0.117 0.17929"
-      rpy="0.065544 -0.034907 -3.1416" />
+      xyz="-0.003 0.0064525 0.12926"
+      rpy="-3.0449 -0.034907 -1.5708" />
     <parent
       link="base_link" />
     <child
@@ -288,17 +288,17 @@
     name="Ane_L2">
     <inertial>
       <origin
-        xyz="-0.010487 -0.00039673 0.010872"
+        xyz="0.010487 -0.00039673 -0.010872"
         rpy="0 0 0" />
       <mass
-        value="0.0060006" />
+        value="0.0052657" />
       <inertia
-        ixx="6.9826E-07"
-        ixy="-2.9895E-10"
-        ixz="-2.4916E-11"
-        iyy="7.1823E-07"
-        iyz="-2.898E-08"
-        izz="2.6724E-07" />
+        ixx="6.1275E-07"
+        ixy="2.624E-10"
+        ixz="-2.1855E-11"
+        iyy="6.3027E-07"
+        iyz="2.5431E-08"
+        izz="2.3451E-07" />
     </inertial>
     <visual>
       <origin
@@ -311,7 +311,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -328,14 +328,14 @@
     name="Ane_J2"
     type="revolute">
     <origin
-      xyz="-0.001025 0 0.047"
-      rpy="-0.020855 -2.7655E-15 1.0248E-16" />
+      xyz="-0.00078134 0 -0.047"
+      rpy="0.04204 6.9389E-18 3.1416" />
     <parent
       link="Ane_L1" />
     <child
       link="Ane_L2" />
     <axis
-      xyz="-1 0 0" />
+      xyz="1 0 0" />
     <limit
       lower="0"
       upper="1.57"
@@ -349,14 +349,14 @@
         xyz="-0.0098289 -0.00045398 0.0099715"
         rpy="0 0 0" />
       <mass
-        value="0.0056943" />
+        value="0.0049969" />
       <inertia
-        ixx="5.6108E-07"
-        ixy="7.2643E-11"
-        ixz="8.6575E-12"
-        iyy="5.2785E-07"
-        iyz="-2.8701E-08"
-        izz="1.9576E-07" />
+        ixx="4.9237E-07"
+        ixy="6.3755E-11"
+        ixz="7.5284E-12"
+        iyy="4.632E-07"
+        iyz="-2.5186E-08"
+        izz="1.7179E-07" />
     </inertial>
     <visual>
       <origin
@@ -369,7 +369,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -386,8 +386,8 @@
     name="Ane_J3"
     type="revolute">
     <origin
-      xyz="-0.00066054 0 0.0267"
-      rpy="-0.017497 -2.5506E-18 1.5754E-16" />
+      xyz="0.00066054 0 -0.0267"
+      rpy="-3.089 -1.3878E-17 -3.1416" />
     <parent
       link="Ane_L2" />
     <child
@@ -404,17 +404,17 @@
     name="Med_L1">
     <inertial>
       <origin
-        xyz="0.010707 -0.00021663 0.02162"
+        xyz="0.0068039 0.00021663 -0.02162"
         rpy="0 0 0" />
       <mass
-        value="0.011049" />
+        value="0.0096962" />
       <inertia
-        ixx="2.7163E-06"
-        ixy="-5.3954E-11"
-        ixz="1.5285E-11"
-        iyy="2.7469E-06"
-        iyz="-6.4518E-08"
-        izz="5.2852E-07" />
+        ixx="2.3836E-06"
+        ixy="4.7346E-11"
+        ixz="-1.3411E-11"
+        iyy="2.4105E-06"
+        iyz="-5.6616E-08"
+        izz="4.6379E-07" />
     </inertial>
     <visual>
       <origin
@@ -427,7 +427,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -444,8 +444,8 @@
     name="Med_J1"
     type="revolute">
     <origin
-      xyz="0.0037383 -0.11635 0.17852"
-      rpy="0.12975 -4.3637E-17 -3.0805" />
+      xyz="-0.0034154 -0.00020889 0.1285"
+      rpy="-3.0417 -8.6736E-19 -1.5097" />
     <parent
       link="base_link" />
     <child
@@ -462,17 +462,17 @@
     name="Med_L2">
     <inertial>
       <origin
-        xyz="0.010709 -0.00039695 0.010872"
+        xyz="-0.0068049 -0.00039803 -0.010872"
         rpy="0 0 0" />
       <mass
-        value="0.0060005" />
+        value="0.0052659" />
       <inertia
-        ixx="6.9825E-07"
-        ixy="-2.895E-10"
-        ixz="-2.7011E-11"
-        iyy="7.1823E-07"
-        iyz="-2.8977E-08"
-        izz="2.6723E-07" />
+        ixx="6.1276E-07"
+        ixy="1.1335E-10"
+        ixz="4.1403E-11"
+        iyy="6.303E-07"
+        iyz="2.537E-08"
+        izz="2.345E-07" />
     </inertial>
     <visual>
       <origin
@@ -485,7 +485,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -502,14 +502,14 @@
     name="Med_J2"
     type="revolute">
     <origin
-      xyz="0 0 0.047"
-      rpy="-0.047363 2.4286E-17 1.8041E-16" />
+      xyz="0 0 -0.047"
+      rpy="0.092983 9.1051E-18 3.1416" />
     <parent
       link="Med_L1" />
     <child
       link="Med_L2" />
     <axis
-      xyz="-1 0 0" />
+      xyz="1 0 0" />
     <limit
       lower="0"
       upper="1.57"
@@ -520,17 +520,17 @@
     name="Med_L3">
     <inertial>
       <origin
-        xyz="0.0097789 -0.00045405 0.0099716"
+        xyz="0.0068036 -0.00045399 0.0099715"
         rpy="0 0 0" />
       <mass
-        value="0.0056943" />
+        value="0.0049969" />
       <inertia
-        ixx="5.6108E-07"
-        ixy="7.3014E-11"
-        ixz="8.5882E-12"
-        iyy="5.2784E-07"
-        iyz="-2.8704E-08"
-        izz="1.9576E-07" />
+        ixx="4.9237E-07"
+        ixy="6.3732E-11"
+        ixz="7.6266E-12"
+        iyy="4.632E-07"
+        iyz="-2.5186E-08"
+        izz="1.7179E-07" />
     </inertial>
     <visual>
       <origin
@@ -543,7 +543,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -560,8 +560,8 @@
     name="Med_J3"
     type="revolute">
     <origin
-      xyz="0.00092729 0 0.0267"
-      rpy="-0.20497 -3.5562E-16 -5.5234E-15" />
+      xyz="0 0 -0.0267"
+      rpy="3.135 1.0368E-18 -3.1416" />
     <parent
       link="Med_L2" />
     <child
@@ -578,17 +578,17 @@
     name="Ind_L1">
     <inertial>
       <origin
-        xyz="0.011641 -0.00021663 0.02162"
+        xyz="0.01165 0.00021663 -0.02162"
         rpy="0 0 0" />
       <mass
-        value="0.011049" />
+        value="0.0096962" />
       <inertia
-        ixx="2.7163E-06"
-        ixy="-5.4061E-11"
-        ixz="1.5184E-11"
-        iyy="2.7469E-06"
-        iyz="-6.4517E-08"
-        izz="5.2852E-07" />
+        ixx="2.3836E-06"
+        ixy="4.7439E-11"
+        ixz="-1.3332E-11"
+        iyy="2.4105E-06"
+        iyz="-5.6616E-08"
+        izz="4.6379E-07" />
     </inertial>
     <visual>
       <origin
@@ -601,7 +601,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -618,8 +618,8 @@
     name="Ind_J1"
     type="revolute">
     <origin
-      xyz="-0.019216 -0.11882 0.1785"
-      rpy="0.145 0.017364 -3.0402" />
+      xyz="-0.0011787 -0.019259 0.12848"
+      rpy="-3.0766 0.017364 -1.4694" />
     <parent
       link="base_link" />
     <child
@@ -636,17 +636,17 @@
     name="Ind_L2">
     <inertial>
       <origin
-        xyz="0.011642 -0.00039808 0.010872"
+        xyz="-0.011652 -0.000397 -0.010872"
         rpy="0 0 0" />
       <mass
-        value="0.0060007" />
+        value="0.0052656" />
       <inertia
-        ixx="6.9827E-07"
-        ixy="-1.2605E-10"
-        ixz="4.5989E-11"
-        iyy="7.1826E-07"
-        iyz="-2.8912E-08"
-        izz="2.6723E-07" />
+        ixx="6.1273E-07"
+        ixy="2.5193E-10"
+        ixz="-2.4047E-11"
+        iyy="6.3027E-07"
+        iyz="2.5427E-08"
+        izz="2.345E-07" />
     </inertial>
     <visual>
       <origin
@@ -659,7 +659,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -676,14 +676,14 @@
     name="Ind_J2"
     type="revolute">
     <origin
-      xyz="0 0 0.047"
-      rpy="-0.14159 -6.5573E-16 -4.5242E-15" />
+      xyz="0 0 -0.047"
+      rpy="0.012461 -2.6021E-15 3.1416" />
     <parent
       link="Ind_L1" />
     <child
       link="Ind_L2" />
     <axis
-      xyz="-1 0 0" />
+      xyz="1 0 0" />
     <limit
       lower="0"
       upper="1.57"
@@ -694,17 +694,17 @@
     name="Ind_L3">
     <inertial>
       <origin
-        xyz="0.0098661 -0.00045402 0.0099715"
+        xyz="0.01021 -0.000454 0.0099715"
         rpy="0 0 0" />
       <mass
-        value="0.0056943" />
+        value="0.0049969" />
       <inertia
-        ixx="5.6108E-07"
-        ixy="7.2946E-11"
-        ixz="8.9685E-12"
-        iyy="5.2784E-07"
-        iyz="-2.87E-08"
-        izz="1.9576E-07" />
+        ixx="4.9237E-07"
+        ixy="6.3775E-11"
+        ixz="7.6703E-12"
+        iyy="4.632E-07"
+        iyz="-2.5186E-08"
+        izz="1.7179E-07" />
     </inertial>
     <visual>
       <origin
@@ -717,7 +717,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -734,8 +734,8 @@
     name="Ind_J3"
     type="revolute">
     <origin
-      xyz="0.0017745 0 0.0267"
-      rpy="-0.12298 2.7701E-15 -3.7331E-15" />
+      xyz="-0.0014401 0 -0.0267"
+      rpy="3.0788 -2.6021E-15 -3.1416" />
     <parent
       link="Ind_L2" />
     <child
@@ -752,17 +752,17 @@
     name="Pol_L1">
     <inertial>
       <origin
-        xyz="0.00038989 -0.11993 0.032281"
+        xyz="-0.00037528 0.0019284 0.070349"
         rpy="0 0 0" />
       <mass
-        value="1.0706" />
+        value="0.16469" />
       <inertia
-        ixx="0.0047736"
-        ixy="4.2389E-06"
-        ixz="-3.3527E-05"
-        iyy="0.0049052"
-        iyz="-7.9528E-06"
-        izz="0.0054906" />
+        ixx="0.0002481"
+        ixy="-3.8181E-06"
+        ixz="1.5344E-06"
+        iyy="0.00015717"
+        iyz="-1.4443E-06"
+        izz="0.00010769" />
     </inertial>
     <visual>
       <origin
@@ -775,7 +775,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -792,14 +792,14 @@
     name="Pol_J1"
     type="revolute">
     <origin
-      xyz="-0.032499 -0.11966 0.10712"
-      rpy="0.038968 0.52228 -3.0636" />
+      xyz="-0.00033603 -0.03241 0.056854"
+      rpy="3.022 -0.511 1.8117" />
     <parent
       link="base_link" />
     <child
       link="Pol_L1" />
     <axis
-      xyz="0 0 1" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
@@ -810,17 +810,17 @@
     name="Pol_L2">
     <inertial>
       <origin
-        xyz="0.041652 -0.00027691 0.021793"
+        xyz="0.040049 0.00021662 -0.02162"
         rpy="0 0 0" />
       <mass
-        value="0.012344" />
+        value="0.0096962" />
       <inertia
-        ixx="2.8811E-06"
-        ixy="-5.3655E-11"
-        ixz="1.6474E-11"
-        iyy="2.8912E-06"
-        iyz="-7.4168E-08"
-        izz="5.5752E-07" />
+        ixx="2.3836E-06"
+        ixy="4.7417E-11"
+        ixz="-1.3735E-11"
+        iyy="2.4105E-06"
+        iyz="-5.6616E-08"
+        izz="4.6379E-07" />
     </inertial>
     <visual>
       <origin
@@ -833,7 +833,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -850,8 +850,8 @@
     name="Pol_J2"
     type="revolute">
     <origin
-      xyz="-0.011107 0 0.025672"
-      rpy="-0.080887 0.17453 -3.9457E-16" />
+      xyz="0.0095283 0 -0.025675"
+      rpy="0.023564 -0.17453 3.1416" />
     <parent
       link="Pol_L1" />
     <child
@@ -868,17 +868,17 @@
     name="Pol_L3">
     <inertial>
       <origin
-        xyz="0.027068 -0.00045401 0.0099715"
+        xyz="0.025569 -0.00045399 0.0099715"
         rpy="0 0 0" />
       <mass
-        value="0.0056943" />
+        value="0.004997" />
       <inertia
-        ixx="5.6108E-07"
-        ixy="7.2676E-11"
-        ixz="9.0586E-12"
-        iyy="5.2784E-07"
-        iyz="-2.87E-08"
-        izz="1.9576E-07" />
+        ixx="4.9237E-07"
+        ixy="6.3228E-11"
+        ixz="7.7223E-12"
+        iyy="4.632E-07"
+        iyz="-2.5185E-08"
+        izz="1.7179E-07" />
     </inertial>
     <visual>
       <origin
@@ -891,7 +891,7 @@
       <material
         name="">
         <color
-          rgba="0.79216 0.81961 0.93333 1" />
+          rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
@@ -908,8 +908,8 @@
     name="Pol_J3"
     type="revolute">
     <origin
-      xyz="0.014584 0 0.047"
-      rpy="-0.034828 -2.7409E-16 -6.245E-16" />
+      xyz="0.01448 0 -0.047"
+      rpy="-3.1102 5.5511E-17 -1.1102E-16" />
     <parent
       link="Pol_L2" />
     <child
@@ -922,7 +922,6 @@
       effort="30"
       velocity="2" />
   </joint>
-
 <transmission name="Pol1_transmission">
         <type>transmission_interface/SimpleTransmission</type>
         <joint name="Pol_J1">