Invert torso joints order. Check base_link

talos_description/urdf/torso/torso.urdf.xacro

@@ -77,13 +77,13 @@
     </link>
 
     <joint name="${name}_1_joint" type="revolute">
-      <parent link="${name}_2_link"/>
+      <parent link="base_link"/>
       <child link="${name}_1_link"/>
-      <origin xyz="0.0 0.0 0.0" 
+      <origin xyz="0.0 0.0 0.0722" 
               rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
-      <axis xyz="0 1 0" />
-      <limit lower="${-45.0 * deg_to_rad}" upper="${15.0 * deg_to_rad}" 
-             effort="${torso_max_effort}" velocity="${torso_max_vel}"/>
+      <axis xyz="0 0 1" />
+      <limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}" 
+             effort="${torso_max_effort}" velocity="${torso_max_vel}" />
       <dynamics damping="1.0" friction="1.0"/>
 
       <!-- <safety_controller k_position="20"
@@ -122,12 +122,12 @@
 
     <joint name="${name}_2_joint" type="revolute">
       <parent link="${name}_1_link"/>
-      <child link="base_link"/>
-      <origin xyz="0.0 0.0 -0.0722" 
+      <child link="${name}_2_link"/>
+      <origin xyz="0.0 0.0 0.0" 
               rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
-      <axis xyz="0 0 1" />
-      <limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}" 
-             effort="${torso_max_effort}" velocity="${torso_max_vel}" />
+      <axis xyz="0 1 0" />
+      <limit lower="${-15.0 * deg_to_rad}" upper="${45.0 * deg_to_rad}" 
+             effort="${torso_max_effort}" velocity="${torso_max_vel}"/>
       <dynamics friction="1.0" damping="1.0"/>
 
       <!-- <safety_controller k_position="20"