From: Gabriel Schmitz <gschmitz@ece.ufrgs.br>
Date: Sat, 19 Jan 2019 00:26:55 +0000 (-0200)
Subject: Alterações Sistemas de Coordenadas.
X-Git-Tag: sbai2019submitted~25
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=73636ebd201d22f869f2af7935a27a4fc08258c4;p=users%2Fgschmitz%2Fmiitzhand.git

Alterações Sistemas de Coordenadas.
---

diff --git a/miitzhand_description/meshes/base_link.stl b/miitzhand_description/meshes/base_link.stl
index c897e68..aa9695c 100644
Binary files a/miitzhand_description/meshes/base_link.stl and b/miitzhand_description/meshes/base_link.stl differ
diff --git a/miitzhand_description/meshes/index_l1.stl b/miitzhand_description/meshes/index_l1.stl
index a877baa..21c4983 100644
Binary files a/miitzhand_description/meshes/index_l1.stl and b/miitzhand_description/meshes/index_l1.stl differ
diff --git a/miitzhand_description/meshes/index_l2.stl b/miitzhand_description/meshes/index_l2.stl
index 6bd73ac..7054fbf 100644
Binary files a/miitzhand_description/meshes/index_l2.stl and b/miitzhand_description/meshes/index_l2.stl differ
diff --git a/miitzhand_description/meshes/index_l3.stl b/miitzhand_description/meshes/index_l3.stl
index aff740a..e04f316 100644
Binary files a/miitzhand_description/meshes/index_l3.stl and b/miitzhand_description/meshes/index_l3.stl differ
diff --git a/miitzhand_description/meshes/little_l1.stl b/miitzhand_description/meshes/little_l1.stl
index e5e00e9..b5d88fd 100644
Binary files a/miitzhand_description/meshes/little_l1.stl and b/miitzhand_description/meshes/little_l1.stl differ
diff --git a/miitzhand_description/meshes/little_l2.stl b/miitzhand_description/meshes/little_l2.stl
index e754632..43dcdc8 100644
Binary files a/miitzhand_description/meshes/little_l2.stl and b/miitzhand_description/meshes/little_l2.stl differ
diff --git a/miitzhand_description/meshes/little_l3.stl b/miitzhand_description/meshes/little_l3.stl
index 71ca030..b0ab18c 100644
Binary files a/miitzhand_description/meshes/little_l3.stl and b/miitzhand_description/meshes/little_l3.stl differ
diff --git a/miitzhand_description/meshes/middle_l1.stl b/miitzhand_description/meshes/middle_l1.stl
index 6a8fbe9..30ceed4 100644
Binary files a/miitzhand_description/meshes/middle_l1.stl and b/miitzhand_description/meshes/middle_l1.stl differ
diff --git a/miitzhand_description/meshes/middle_l2.stl b/miitzhand_description/meshes/middle_l2.stl
index 4d4577a..be40491 100644
Binary files a/miitzhand_description/meshes/middle_l2.stl and b/miitzhand_description/meshes/middle_l2.stl differ
diff --git a/miitzhand_description/meshes/middle_l3.stl b/miitzhand_description/meshes/middle_l3.stl
index cacd649..a0d3ec8 100644
Binary files a/miitzhand_description/meshes/middle_l3.stl and b/miitzhand_description/meshes/middle_l3.stl differ
diff --git a/miitzhand_description/meshes/ring_l1.stl b/miitzhand_description/meshes/ring_l1.stl
index f13b778..a5da6fa 100644
Binary files a/miitzhand_description/meshes/ring_l1.stl and b/miitzhand_description/meshes/ring_l1.stl differ
diff --git a/miitzhand_description/meshes/ring_l2.stl b/miitzhand_description/meshes/ring_l2.stl
index 71f92eb..41e9114 100644
Binary files a/miitzhand_description/meshes/ring_l2.stl and b/miitzhand_description/meshes/ring_l2.stl differ
diff --git a/miitzhand_description/meshes/ring_l3.stl b/miitzhand_description/meshes/ring_l3.stl
index 9231dc9..a03f2c7 100644
Binary files a/miitzhand_description/meshes/ring_l3.stl and b/miitzhand_description/meshes/ring_l3.stl differ
diff --git a/miitzhand_description/meshes/thumb_l1.stl b/miitzhand_description/meshes/thumb_l1.stl
index c158838..423cbeb 100644
Binary files a/miitzhand_description/meshes/thumb_l1.stl and b/miitzhand_description/meshes/thumb_l1.stl differ
diff --git a/miitzhand_description/meshes/thumb_l2.stl b/miitzhand_description/meshes/thumb_l2.stl
index 7562629..a1c8341 100644
Binary files a/miitzhand_description/meshes/thumb_l2.stl and b/miitzhand_description/meshes/thumb_l2.stl differ
diff --git a/miitzhand_description/meshes/thumb_l3.stl b/miitzhand_description/meshes/thumb_l3.stl
index cce5eb3..9b1d66c 100644
Binary files a/miitzhand_description/meshes/thumb_l3.stl and b/miitzhand_description/meshes/thumb_l3.stl differ
diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index ec517ae..1decc33 100644
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -8,12 +8,12 @@
 		<parent link="world"/>
 		<child link="origin_link"/>
 	</joint>
-  <link
+<link
     name="base_link">
     <inertial>
       <origin
         xyz="-0.00037528 0.0019284 0.070349"
-        rpy="0 0 0" />
+        rpy="-1.57 0 -1.57" />
       <mass
         value="0.16469" />
       <inertia
@@ -49,24 +49,34 @@
     </collision>
   </link>
 <joint name="origin_joint" type="fixed" >
-		<parent link="origin_link"/>
-		<child link="base_link"/>
+	<!--<origin
+        	xyz="0 0 0"
+        	rpy="0 0 0" />-->
+	<parent link="origin_link"/>
+	<child link="base_link"/>
+	<!--<axis
+      		xyz="0 0 -1"/>
+     <limit
+      lower="0"
+      upper="0"
+      effort="30"
+      velocity="2" />-->	
 </joint>
   <link
     name="little_l1">
     <inertial>
       <origin
-        xyz="-0.01191 0.00021661 -0.02162"
+        xyz="0.02162 0.00021661 8.9881E-05"
         rpy="0 0 0" />
       <mass
         value="0.0096962" />
       <inertia
-        ixx="2.3836E-06"
-        ixy="4.7052E-11"
-        ixz="-1.4317E-11"
+        ixx="4.6379E-07"
+        ixy="5.6617E-08"
+        ixz="1.4317E-11"
         iyy="2.4105E-06"
-        iyz="-5.6617E-08"
-        izz="4.6379E-07" />
+        iyz="4.7052E-11"
+        izz="2.3836E-06" />
     </inertial>
     <visual>
       <origin
@@ -96,14 +106,14 @@
     name="little_j1"
     type="revolute">
     <origin
-      xyz="0.0025843 0.028763 0.1208"
-      rpy="-3.0895 -0.087213 -1.6058" />
+      xyz="0.0030031 0.04071 0.11976"
+      rpy="-0.53727 -1.4692 2.0753" />
     <parent
       link="base_link" />
     <child
       link="little_l1" />
     <axis
-      xyz="-1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
@@ -114,17 +124,17 @@
     name="little_l2">
     <inertial>
       <origin
-        xyz="0.011045 -0.00039673 -0.010872"
+        xyz="0.010872 0.00039673 4.8455E-06"
         rpy="0 0 0" />
       <mass
         value="0.0052657" />
       <inertia
-        ixx="6.1275E-07"
-        ixy="2.6274E-10"
+        ixx="2.3451E-07"
+        ixy="2.5431E-08"
         ixz="-2.2276E-11"
         iyy="6.3027E-07"
-        iyz="2.5431E-08"
-        izz="2.3451E-07" />
+        iyz="2.6274E-10"
+        izz="6.1275E-07" />
     </inertial>
     <visual>
       <origin
@@ -154,14 +164,14 @@
     name="little_j2"
     type="revolute">
     <origin
-      xyz="-0.00086261 0 -0.047"
-      rpy="-0.0021314 -1.4016E-15 3.1416" />
+      xyz="0.047 0 8.7389E-05"
+      rpy="-7.893E-17 2.7756E-16 0.0021314" />
     <parent
       link="little_l1" />
     <child
       link="little_l2" />
     <axis
-      xyz="1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
@@ -173,17 +183,17 @@
     name="little_l3">
     <inertial>
       <origin
-        xyz="-0.010333 -0.00045398 0.0099715"
+        xyz="0.0099715 0.00045398 1.7079E-05"
         rpy="0 0 0" />
       <mass
         value="0.0049969" />
       <inertia
-        ixx="4.9237E-07"
-        ixy="6.387E-11"
-        ixz="7.6183E-12"
+        ixx="1.7179E-07"
+        ixy="2.5186E-08"
+        ixz="7.583E-12"
         iyy="4.632E-07"
-        iyz="-2.5186E-08"
-        izz="1.7179E-07" />
+        iyz="-6.3876E-11"
+        izz="4.9237E-07" />
     </inertial>
     <visual>
       <origin
@@ -213,14 +223,14 @@
     name="little_j3"
     type="revolute">
     <origin
-      xyz="0.00071495 0 -0.0267"
-      rpy="-3.0794 0 3.1416" />
+      xyz="0.0267 0 -1.4947E-05"
+      rpy="2.5847E-16 -9.7145E-17 0.062159" />
     <parent
       link="little_l2" />
     <child
       link="little_l3" />
     <axis
-      xyz="-1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
@@ -232,17 +242,17 @@
     name="ring_l1">
     <inertial>
       <origin
-        xyz="-0.01127 0.00021662 -0.02162"
+        xyz="0.02162 0.00021662 2.961E-05"
         rpy="0 0 0" />
       <mass
         value="0.0096962" />
       <inertia
-        ixx="2.3836E-06"
-        ixy="4.7182E-11"
-        ixz="-1.3932E-11"
+        ixx="4.6379E-07"
+        ixy="5.6617E-08"
+        ixz="1.3932E-11"
         iyy="2.4105E-06"
-        iyz="-5.6617E-08"
-        izz="4.6379E-07" />
+        iyz="4.7182E-11"
+        izz="2.3836E-06" />
     </inertial>
     <visual>
       <origin
@@ -272,14 +282,14 @@
     name="ring_j1"
     type="revolute">
     <origin
-      xyz="-0.003 0.0064525 0.12926"
-      rpy="-3.0449 -0.034907 -1.5708" />
+      xyz="-0.003 0.017746 0.12886"
+      rpy="-1.2237 -1.468 2.7962" />
     <parent
       link="base_link" />
     <child
       link="ring_l1" />
     <axis
-      xyz="-1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
@@ -290,17 +300,17 @@
     name="ring_l2">
     <inertial>
       <origin
-        xyz="0.010487 -0.00039673 -0.010872"
+        xyz="0.010872 0.00039673 3.3296E-05"
         rpy="0 0 0" />
       <mass
         value="0.0052657" />
       <inertia
-        ixx="6.1275E-07"
-        ixy="2.624E-10"
+        ixx="2.3451E-07"
+        ixy="2.5431E-08"
         ixz="-2.1855E-11"
         iyy="6.3027E-07"
-        iyz="2.5431E-08"
-        izz="2.3451E-07" />
+        iyz="2.624E-10"
+        izz="6.1275E-07" />
     </inertial>
     <visual>
       <origin
@@ -330,14 +340,14 @@
     name="ring_j2"
     type="revolute">
     <origin
-      xyz="-0.00078134 0 -0.047"
-      rpy="0.04204 6.9389E-18 3.1416" />
+      xyz="0.047 0 0"
+      rpy="6.2016E-17 -9.7145E-17 -0.04204" />
     <parent
       link="ring_l1" />
     <child
       link="ring_l2" />
     <axis
-      xyz="1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
@@ -349,17 +359,17 @@
     name="ring_l3">
     <inertial>
       <origin
-        xyz="-0.0098289 -0.00045398 0.0099715"
+        xyz="0.0099715 0.00045398 2.1131E-05"
         rpy="0 0 0" />
       <mass
         value="0.0049969" />
       <inertia
-        ixx="4.9237E-07"
-        ixy="6.3755E-11"
+        ixx="1.7179E-07"
+        ixy="2.5186E-08"
         ixz="7.5284E-12"
         iyy="4.632E-07"
-        iyz="-2.5186E-08"
-        izz="1.7179E-07" />
+        iyz="-6.3755E-11"
+        izz="4.9237E-07" />
     </inertial>
     <visual>
       <origin
@@ -389,14 +399,14 @@
     name="ring_j3"
     type="revolute">
     <origin
-      xyz="0.00066054 0 -0.0267"
-      rpy="-3.089 -1.3878E-17 -3.1416" />
+      xyz="0.0267 0 0"
+      rpy="4.9006E-17 -7.6328E-17 0.052588" />
     <parent
       link="ring_l2" />
     <child
       link="ring_l3" />
     <axis
-      xyz="-1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
@@ -408,17 +418,17 @@
     name="middle_l1">
     <inertial>
       <origin
-        xyz="0.0068039 0.00021663 -0.02162"
+        xyz="0.02162 0.00021663 2.3898E-05"
         rpy="0 0 0" />
       <mass
         value="0.0096962" />
       <inertia
-        ixx="2.3836E-06"
-        ixy="4.7346E-11"
-        ixz="-1.3411E-11"
+        ixx="4.6379E-07"
+        ixy="5.6616E-08"
+        ixz="1.3411E-11"
         iyy="2.4105E-06"
-        iyz="-5.6616E-08"
-        izz="4.6379E-07" />
+        iyz="4.7346E-11"
+        izz="2.3836E-06" />
     </inertial>
     <visual>
       <origin
@@ -448,14 +458,14 @@
     name="middle_j1"
     type="revolute">
     <origin
-      xyz="-0.0034154 -0.00020889 0.1285"
-      rpy="-3.0417 -8.6736E-19 -1.5097" />
+      xyz="-0.0030015 -0.0069762 0.1285"
+      rpy="-1.5708 -1.4709 -3.0805" />
     <parent
       link="base_link" />
     <child
       link="middle_l1" />
     <axis
-      xyz="-1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
@@ -466,17 +476,17 @@
     name="middle_l2">
     <inertial>
       <origin
-        xyz="-0.0068049 -0.00039803 -0.010872"
+        xyz="0.010872 0.00039803 4.914E-06"
         rpy="0 0 0" />
       <mass
         value="0.0052659" />
       <inertia
-        ixx="6.1276E-07"
-        ixy="1.1335E-10"
+        ixx="2.345E-07"
+        ixy="2.537E-08"
         ixz="4.1403E-11"
         iyy="6.303E-07"
-        iyz="2.537E-08"
-        izz="2.345E-07" />
+        iyz="1.1335E-10"
+        izz="6.1276E-07" />
     </inertial>
     <visual>
       <origin
@@ -506,36 +516,36 @@
     name="middle_j2"
     type="revolute">
     <origin
-      xyz="0 0 -0.047"
-      rpy="0.092983 9.1051E-18 3.1416" />
+      xyz="0.047 0 2E-05"
+      rpy="-1.5568E-17 -9.0667E-17 -0.092983" />
     <parent
       link="middle_l1" />
     <child
       link="middle_l2" />
     <axis
-      xyz="1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
-    <mimic joint="middle_j1" multiplier="1" offset="0" />
+      <mimic joint="middle_j1" multiplier="1" offset="0" />
   </joint>
   <link
     name="middle_l3">
     <inertial>
       <origin
-        xyz="0.0068036 -0.00045399 0.0099715"
+        xyz="0.0099715 0.00045399 -1.645E-05"
         rpy="0 0 0" />
       <mass
         value="0.0049969" />
       <inertia
-        ixx="4.9237E-07"
-        ixy="6.3732E-11"
+        ixx="1.7179E-07"
+        ixy="2.5186E-08"
         ixz="7.6266E-12"
         iyy="4.632E-07"
-        iyz="-2.5186E-08"
-        izz="1.7179E-07" />
+        iyz="-6.3733E-11"
+        izz="4.9237E-07" />
     </inertial>
     <visual>
       <origin
@@ -565,14 +575,14 @@
     name="middle_j3"
     type="revolute">
     <origin
-      xyz="0 0 -0.0267"
-      rpy="3.135 1.0368E-18 -3.1416" />
+      xyz="0.0267 0 2E-05"
+      rpy="-5.6412E-20 -9.6624E-18 -0.0065785" />
     <parent
       link="middle_l2" />
     <child
       link="middle_l3" />
     <axis
-      xyz="-1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
@@ -584,17 +594,17 @@
     name="index_l1">
     <inertial>
       <origin
-        xyz="0.01165 0.00021663 -0.02162"
+        xyz="0.02162 0.00021663 9.5195E-08"
         rpy="0 0 0" />
       <mass
         value="0.0096962" />
       <inertia
-        ixx="2.3836E-06"
-        ixy="4.7439E-11"
-        ixz="-1.3332E-11"
+        ixx="4.6379E-07"
+        ixy="5.6616E-08"
+        ixz="1.3332E-11"
         iyy="2.4105E-06"
-        iyz="-5.6616E-08"
-        izz="4.6379E-07" />
+        iyz="4.744E-11"
+        izz="2.3836E-06" />
     </inertial>
     <visual>
       <origin
@@ -624,14 +634,14 @@
     name="index_j1"
     type="revolute">
     <origin
-      xyz="-0.0011787 -0.019259 0.12848"
-      rpy="-3.0766 0.017364 -1.4694" />
+      xyz="0 -0.030847 0.12828"
+      rpy="-1.8319 -1.5035 -2.7796" />
     <parent
       link="base_link" />
     <child
       link="index_l1" />
     <axis
-      xyz="-1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
@@ -642,17 +652,17 @@
     name="index_l2">
     <inertial>
       <origin
-        xyz="-0.011652 -0.000397 -0.010872"
+        xyz="0.010872 0.000397 2.393E-06"
         rpy="0 0 0" />
       <mass
         value="0.0052656" />
       <inertia
-        ixx="6.1273E-07"
-        ixy="2.5193E-10"
+        ixx="2.345E-07"
+        ixy="2.5427E-08"
         ixz="-2.4047E-11"
         iyy="6.3027E-07"
-        iyz="2.5427E-08"
-        izz="2.345E-07" />
+        iyz="2.5193E-10"
+        izz="6.1273E-07" />
     </inertial>
     <visual>
       <origin
@@ -682,36 +692,36 @@
     name="index_j2"
     type="revolute">
     <origin
-      xyz="0 0 -0.047"
-      rpy="0.012461 -2.6021E-15 3.1416" />
+      xyz="0.047 0 0"
+      rpy="2.6728E-15 1.8492E-15 -0.012461" />
     <parent
       link="index_l1" />
     <child
       link="index_l2" />
     <axis
-      xyz="1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
-    <mimic joint="index_j1" multiplier="1" offset="0" />
+      <mimic joint="index_j1" multiplier="1" offset="0" />
   </joint>
   <link
     name="index_l3">
     <inertial>
       <origin
-        xyz="0.01021 -0.000454 0.0099715"
+        xyz="0.0099715 0.000454 7.9673E-05"
         rpy="0 0 0" />
       <mass
         value="0.0049969" />
       <inertia
-        ixx="4.9237E-07"
-        ixy="6.3775E-11"
-        ixz="7.6703E-12"
+        ixx="1.7179E-07"
+        ixy="2.5186E-08"
+        ixz="7.6708E-12"
         iyy="4.632E-07"
-        iyz="-2.5186E-08"
-        izz="1.7179E-07" />
+        iyz="-6.3774E-11"
+        izz="4.9237E-07" />
     </inertial>
     <visual>
       <origin
@@ -741,14 +751,14 @@
     name="index_j3"
     type="revolute">
     <origin
-      xyz="-0.0014401 0 -0.0267"
-      rpy="3.0788 -2.6021E-15 -3.1416" />
+      xyz="0.0267 0 -7.9919E-05"
+      rpy="-3.372E-15 -9.194E-16 -0.062827" />
     <parent
       link="index_l2" />
     <child
       link="index_l3" />
     <axis
-      xyz="-1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
@@ -760,17 +770,17 @@
     name="thumb_l1">
     <inertial>
       <origin
-        xyz="-0.00037528 0.0019284 0.070349"
+        xyz="2.3326E-09 0.019805 -0.021977"
         rpy="0 0 0" />
       <mass
-        value="0.16469" />
+        value="0.009042" />
       <inertia
-        ixx="0.0002481"
-        ixy="-3.8181E-06"
-        ixz="1.5344E-06"
-        iyy="0.00015717"
-        iyz="-1.4443E-06"
-        izz="0.00010769" />
+        ixx="1.6603E-06"
+        ixy="2.5778E-13"
+        ixz="-4.8917E-14"
+        iyy="7.4098E-07"
+        iyz="-3.6039E-07"
+        izz="1.3315E-06" />
     </inertial>
     <visual>
       <origin
@@ -800,14 +810,14 @@
     name="thumb_j1"
     type="revolute">
     <origin
-      xyz="-0.00033603 -0.03241 0.056854"
-      rpy="3.022 -0.511 1.8117" />
+      xyz="-0.00033603 -0.044407 0.077634"
+      rpy="-0.51406 0.10426 -2.9593" />
     <parent
       link="base_link" />
     <child
       link="thumb_l1" />
     <axis
-      xyz="0 0 -1" />
+      xyz="0 0 1" />
     <limit
       lower="0"
       upper="1.57"
@@ -818,17 +828,17 @@
     name="thumb_l2">
     <inertial>
       <origin
-        xyz="0.040049 0.00021662 -0.02162"
+        xyz="0.02162 0.00021662 -7.7087E-07"
         rpy="0 0 0" />
       <mass
         value="0.0096962" />
       <inertia
-        ixx="2.3836E-06"
-        ixy="4.7417E-11"
-        ixz="-1.3735E-11"
+        ixx="4.6379E-07"
+        ixy="5.6616E-08"
+        ixz="1.3735E-11"
         iyy="2.4105E-06"
-        iyz="-5.6616E-08"
-        izz="4.6379E-07" />
+        iyz="4.7417E-11"
+        izz="2.3836E-06" />
     </inertial>
     <visual>
       <origin
@@ -858,14 +868,14 @@
     name="thumb_j2"
     type="revolute">
     <origin
-      xyz="0.0095283 0 -0.025675"
-      rpy="0.023564 -0.17453 3.1416" />
+      xyz="0 0.029913 -0.0052745"
+      rpy="-3.0088 -1.3947 1.4359" />
     <parent
       link="thumb_l1" />
     <child
       link="thumb_l2" />
     <axis
-      xyz="-1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
@@ -876,17 +886,17 @@
     name="thumb_l3">
     <inertial>
       <origin
-        xyz="0.025569 -0.00045399 0.0099715"
+        xyz="0.0099715 0.00045399 -1.4398E-06"
         rpy="0 0 0" />
       <mass
         value="0.004997" />
       <inertia
-        ixx="4.9237E-07"
-        ixy="6.3228E-11"
+        ixx="1.7179E-07"
+        ixy="2.5185E-08"
         ixz="7.7223E-12"
         iyy="4.632E-07"
-        iyz="-2.5185E-08"
-        izz="1.7179E-07" />
+        iyz="-6.3228E-11"
+        izz="4.9237E-07" />
     </inertial>
     <visual>
       <origin
@@ -916,21 +926,21 @@
     name="thumb_j3"
     type="revolute">
     <origin
-      xyz="0.01448 0 -0.047"
-      rpy="-3.1102 5.5511E-17 -1.1102E-16" />
+      xyz="0.047 0 0"
+      rpy="-3.6082E-16 5.5511E-17 0.031398" />
     <parent
       link="thumb_l2" />
     <child
       link="thumb_l3" />
     <axis
-      xyz="-1 0 0" />
+      xyz="0 0 -1" />
     <limit
       lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
       <mimic joint="thumb_j2" multiplier="1" offset="0" />
-  </joint>
+  </joint> 
 
 <transmission name="thumb1_transmission">
         <type>transmission_interface/SimpleTransmission</type>