From 397f5eedcbef6c45ea2ecf57e9bbcdd1e1c22e0d Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 14 Apr 2019 00:33:41 -0300
Subject: [PATCH] Fix orientation of joint middle_j0.

---
 miitzhand_description/urdf/miitzhand.urdf | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index b831c48..75e62c6 100644
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -265,7 +265,7 @@
  <joint name="middle_j0" type="fixed">
    <parent link="base_link"/>
    <child link="middle_l0"/>
-   <origin xyz="0.1285 0.003 0.007" rpy="-0.404891796285 0 0" />
+   <origin xyz="0.1285 -0.00041437 0.0067917" rpy="0.061087 0 1.5708" />
  </joint>
 
  <link name="middle_l1">
@@ -294,11 +294,11 @@
  </link>
 
   <joint name="middle_j1" type="revolute">
-    <origin xyz="0 0 0" rpy="0.465978796285 0 0" />
+    <origin xyz="0.0032071 0 0" rpy="0 0 0" />
     <parent link="middle_l0" />
     <child link="middle_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>
 
@@ -333,7 +333,7 @@
     <child link="middle_l2" />
     <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />    
-    <mimic joint="middle_j1" multiplier="1" offset="0" />
+    <mimic joint="middle_j1" multiplier="1" offset="1.57" />
   </joint>
 
  <link name="middle_l3">
@@ -367,7 +367,7 @@
     <child link="middle_l3" />
     <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />    
-    <mimic joint="middle_j1" multiplier="1" offset="0" />
+    <mimic joint="middle_j1" multiplier="1" offset="1.57" />
   </joint>
 
  <link name="index_l0"/>
@@ -708,7 +708,7 @@
   	<joint>middle_j2</joint>    
   	<mimicJoint>middle_j1</mimicJoint>    
   	<multiplier>1.0</multiplier>    
-  	<offset>0.0</offset>    
+	<offset>1.57</offset>
   	<maxEffort>30.0</maxEffort>    
   	<sensitiveness>0.0</sensitiveness>    
   </plugin>    
@@ -729,7 +729,7 @@
   	<joint>middle_j3</joint>    
   	<mimicJoint>middle_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