From 169422856874af780b2020dde900769eafb6d34d Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sat, 13 Apr 2019 23:52:03 -0300
Subject: [PATCH] Fix origin of joint little_j0.

---
 miitzhand_description/urdf/miitzhand.urdf | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index 6db83f6..b831c48 100644
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -45,7 +45,7 @@
  <joint name="little_j0" type="fixed">
    <parent link="base_link"/>
    <child link="little_l0"/>
-   <origin xyz="0.11977 -0.003 -0.04062" rpy="-0.0737213979639 0.087226 0"/>
+   <origin xyz="0.11977 -0.0014193 -0.040675" rpy="-0.034907 0 1.5708"/>
  </joint>
 
  <link name="little_l1">
@@ -74,11 +74,11 @@
  </link>
 
   <joint name="little_j1" type="revolute">
-    <origin xyz="0 0 0" rpy="0.0388143979639 0 0" />
+    <origin xyz="-0.0015817 0 0" rpy="0.087267 0 0" />
     <parent link="little_l0" />
     <child link="little_l1" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />
+    <limit lower="-3.14" upper="-1.57" effort="1.968989" velocity="5.61" />
     <dynamics damping="0.336538" friction="0.075478" />
   </joint>
 
@@ -112,8 +112,8 @@
     <parent link="little_l1" />
     <child link="little_l2" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />  
-    <mimic joint="little_j1" multiplier="1" offset="0" />
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />
+    <mimic joint="little_j1" multiplier="1" offset="1.57" />
   </joint>
 
  <link name="little_l3">
@@ -147,7 +147,7 @@
     <child link="little_l3" />
     <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />    
-    <mimic joint="little_j1" multiplier="1" offset="0" />
+    <mimic joint="little_j1" multiplier="1" offset="1.57" />
   </joint>
 
  <link name="ring_l0"/>
@@ -760,7 +760,7 @@
   	<joint>ring_j2</joint>    
   	<mimicJoint>ring_j1</mimicJoint>    
   	<multiplier>1.0</multiplier>    
-  	<offset>0.0</offset>    
+	<offset>1.57</offset>
   	<maxEffort>30.0</maxEffort>    
   	<sensitiveness>0.0</sensitiveness>    
   </plugin>    
@@ -781,7 +781,7 @@
   	<joint>ring_j3</joint>    
   	<mimicJoint>ring_j1</mimicJoint>    
   	<multiplier>1.0</multiplier>    
-  	<offset>0.0</offset>    
+	<offset>1.57</offset>
   	<maxEffort>30.0</maxEffort>    
   	<sensitiveness>0.0</sensitiveness>    
   </plugin>    
@@ -812,7 +812,7 @@
   	<joint>little_j2</joint>    
   	<mimicJoint>little_j1</mimicJoint>    
   	<multiplier>1.0</multiplier>    
-  	<offset>0.0</offset>    
+	<offset>1.57</offset>
   	<maxEffort>30.0</maxEffort>    
   	<sensitiveness>0.0</sensitiveness>    
   </plugin>    
@@ -833,7 +833,7 @@
   	<joint>little_j3</joint>    
   	<mimicJoint>little_j1</mimicJoint>    
   	<multiplier>1.0</multiplier>    
-  	<offset>0.0</offset>    
+	<offset>1.57</offset>
  	<maxEffort>30.0</maxEffort>    
   	<sensitiveness>0.0</sensitiveness>    
   </plugin>    
-- 
2.12.0