From 339141f8eccfe0c0cedad71aa93d4c41d65637f6 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 14 Apr 2019 03:25:50 -0300
Subject: [PATCH] Fix base_joint.

---
 miitzhand_description/urdf/miitzhand.urdf | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index 5f3c1a4..0bf5e88 100644
--- 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> 
-- 
2.12.0