From eabcd6e3c256e8234c9d15351303f91fcc30e2f1 Mon Sep 17 00:00:00 2001
From: Gabriel Schmitz <gschmitz@ece.ufrgs.br>
Date: Thu, 10 Jan 2019 14:03:37 -0200
Subject: [PATCH] =?utf8?q?Fixa=C3=A7=C3=A3o=20do=20prot=C3=B3tipo=20no=20g?=
 =?utf8?q?azebo=20com=20o=20link=20world=20e=20corre=C3=A7=C3=B5es=20no=20?=
 =?utf8?q?c=C3=B3digo.?=
MIME-Version: 1.0
Content-Type: text/plain; charset=utf8
Content-Transfer-Encoding: 8bit

---
 miitzhand_description/urdf/miitzhand.urdf | 40 ++++++++++++++++++-------------
 1 file changed, 23 insertions(+), 17 deletions(-)

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index 7edd25b..c9a7b63 100644
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -1,7 +1,13 @@
 <robot
   name="miitzhand">
- <link
+<link 
+  name="world"/> 
+  <link
     name="origin_link"/>
+   <joint name="world" type="fixed" >
+		<parent link="world"/>
+		<child link="origin_link"/>
+	</joint>
   <link
     name="base_link">
     <inertial>
@@ -42,7 +48,7 @@
       </geometry>
     </collision>
   </link>
-<joint name="origin_joint" type="fixed" static="true">
+<joint name="origin_joint" type="fixed" >
 		<parent link="origin_link"/>
 		<child link="base_link"/>
 	</joint>
@@ -99,7 +105,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -157,7 +163,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -215,7 +221,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -273,7 +279,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -331,7 +337,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -389,7 +395,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -447,7 +453,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -505,7 +511,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -563,7 +569,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -621,7 +627,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -679,7 +685,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -737,7 +743,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -795,7 +801,7 @@
     <axis
       xyz="0 0 1" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -853,7 +859,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -911,7 +917,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
-- 
2.12.0