diff --git a/sim/resources/zeroth/joints.py b/sim/resources/zeroth/joints.py
index 3d5e996..2f17de9 100644
--- a/sim/resources/zeroth/joints.py
+++ b/sim/resources/zeroth/joints.py
@@ -74,7 +74,7 @@ class Legs(Node):
 
 
 class Robot(Node):
-    height = 0.42
+    height = 0.34
     rotation = [0, 0, 0, 1.0]
 
     legs = Legs()
diff --git a/sim/resources/zeroth/robot_fixed.urdf b/sim/resources/zeroth/robot_fixed.urdf
index aa357ec..d5dc68e 100644
--- a/sim/resources/zeroth/robot_fixed.urdf
+++ b/sim/resources/zeroth/robot_fixed.urdf
@@ -7,7 +7,7 @@
     </inertial>
   </link>
   <joint name="floating_base" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0" />
+    <origin rpy="0 0 -1.5707963267948966" xyz="0 0 0" />
     <parent link="base" />
     <child link="Part_76" />
   </joint>