<joint name="open_manipulator_joint" type="fixed">
<parent link="mounting_plate"/>
- <child link="link1"/>
- <origin xyz="-0.075 0.0 0.045" rpy="0 0 ${PI}"/>
+ <child link="open_manipulator_base"/>
+ <origin xyz="-0.075 0.0 0.045" rpy="0 0 0"/>
</joint>
</robot>