From 5ba06924b13bf7b65e36bf5df7fa288b003808d7 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 14 Apr 2019 01:26:14 -0300
Subject: [PATCH] Fix origin of joint index_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 75e62c6..5f3c1a4 100644
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -375,7 +375,7 @@
  <joint name="index_j0" type="fixed">
    <parent link="base_link"/>
    <child link="index_l0"/>
-   <origin xyz="0.12828 0 0.030847" rpy="0 -0.017453 0" />
+   <origin xyz="0.12828 -0.0030807 0.030536" rpy="0.10123 0 1.57" />
  </joint>
 
  <link name="index_l1">
@@ -404,11 +404,11 @@
  </link>
 
   <joint name="index_j1" type="revolute">
-    <origin xyz="0 0 0" rpy="0.10135 0 0" />
+    <origin xyz="0.0030963 0 0" rpy="0 0 0" />
     <parent link="index_l0" />
     <child link="index_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>
 
@@ -443,7 +443,7 @@
     <child link="index_l2" />
     <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />    
-    <mimic joint="index_j1" multiplier="1" offset="0" />
+    <mimic joint="index_j1" multiplier="1" offset="1.57" />
   </joint>
 
  <link name="index_l3">
@@ -477,7 +477,7 @@
     <child link="index_l3" />
     <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />    
-    <mimic joint="index_j1" multiplier="1" offset="0" />
+    <mimic joint="index_j1" multiplier="1" offset="1.57" />
   </joint>
 
  <link name="thumb_l0"/>
@@ -656,7 +656,7 @@
   	<joint>index_j2</joint>    
   	<mimicJoint>index_j1</mimicJoint>    
   	<multiplier>1.0</multiplier>    
-  	<offset>0.0</offset>    
+	<offset>1.57</offset>
   	<maxEffort>30.0</maxEffort>    
   	<sensitiveness>0.0</sensitiveness>    
   </plugin>    
@@ -677,7 +677,7 @@
   	<joint>index_j3</joint>    
   	<mimicJoint>index_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