From 3252b73ee21729e16c5a25b736c09eb430678694 Mon Sep 17 00:00:00 2001
From: budzianowski <budzianowski@gmail.com>
Date: Thu, 5 Dec 2024 22:52:44 -0800
Subject: [PATCH] right axes, and height

---
 sim/resources/zeroth/joints.py        | 2 +-
 sim/resources/zeroth/robot_fixed.urdf | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/sim/resources/zeroth/joints.py b/sim/resources/zeroth/joints.py
index 3d5e996e..2f17de9e 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 aa357ec0..d5dc68e7 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>