From 0404b9dcd221f10f30319cb20c7cb1ff1541cf3c Mon Sep 17 00:00:00 2001
From: gdiazh <g.hernan.diaz@gmail.com>
Date: Mon, 29 Jan 2018 16:38:20 -0300
Subject: [PATCH] asfd

---
 urdf/leg.xacro       | 2 +-
 urdf/structure.xacro | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/urdf/leg.xacro b/urdf/leg.xacro
index 543990c..52b624b 100644
--- a/urdf/leg.xacro
+++ b/urdf/leg.xacro
@@ -224,7 +224,7 @@
   <joint name="${side}_phalange_joint" type="revolute">
     <parent link="${side}_ankle"/>
     <child link="${side}_phalange"/>
-    <origin xyz="0 0 ${-1*ankle_height}" rpy="0 0 0" />
+    <origin xyz="${-1*ankle_large/2} 0 ${-1*ankle_height}" rpy="0 0 0" />
     <axis xyz="0 1 0" />
     <limit effort="8" velocity="6" lower="${-45*M_PI/180}" upper="0" />
     <!--dynamics damping="${dxl_damping}" friction="${dxl_friction}" /-->
diff --git a/urdf/structure.xacro b/urdf/structure.xacro
index a563fd8..6e3f389 100644
--- a/urdf/structure.xacro
+++ b/urdf/structure.xacro
@@ -5,7 +5,7 @@
   <xacro:property name="column_height" value="1.25" />
   <xacro:property name="cross_length" value="0.025" />
   <xacro:property name="beam_height" value="7" />
-  <xacro:property name="support_height" value="1.30" />  
+  <xacro:property name="support_height" value="1.26" />  
   <xacro:macro name="structure" params="parent child body_height body_width body_large">
 
     <xacro:joint_transmission joint="slider_to_support"/>