diff --git a/Go2Py/assets/urdf/go2.urdf b/Go2Py/assets/urdf/go2.urdf
index 06a104a..cf044f0 100644
--- a/Go2Py/assets/urdf/go2.urdf
+++ b/Go2Py/assets/urdf/go2.urdf
@@ -667,7 +667,7 @@ Stephen Brawner (brawner@gmail.com)
   </joint>
 
   <joint name="vicon_joint" type="fixed">
-        <parent link="trunk"/>
+        <parent link="base_link"/>
         <child link="vicon_link"/>
         <origin rpy="-0.037935 -0.066371 -2.668897" xyz="0.022944 -0.000007 0.058458"/>
     </joint>
@@ -684,7 +684,7 @@ Stephen Brawner (brawner@gmail.com)
 
 
     <joint name="infra1_joint" type="fixed">
-        <parent link="trunk"/>
+        <parent link="base_link"/>
         <child link="infra1_link"/>
         <origin rpy="-1.641669 -0.014332 -1.617155" xyz="0.321618 0.033305 0.081622"/>
     </joint>
@@ -700,7 +700,7 @@ Stephen Brawner (brawner@gmail.com)
     </link>
 
     <joint name="infra2_joint" type="fixed">
-        <parent link="trunk"/>
+        <parent link="base_link"/>
         <child link="infra1_link"/>
         <origin rpy="-1.640637 -0.014093 -1.611177" xyz="0.317969 -0.061919 0.082773"/>
     </joint>
@@ -716,7 +716,7 @@ Stephen Brawner (brawner@gmail.com)
     </link>
 
     <joint name="color_joint" type="fixed">
-        <parent link="trunk"/>
+        <parent link="base_link"/>
         <child link="color_link"/>
         <origin rpy="-1.640491 -0.011125 -1.610364" xyz="0.319415 -0.025790 0.082311"/>
     </joint>
diff --git a/examples/02-MuJoCo-sim.ipynb b/examples/02-MuJoCo-sim.ipynb
index 1ab3e9f..4bf900a 100644
--- a/examples/02-MuJoCo-sim.ipynb
+++ b/examples/02-MuJoCo-sim.ipynb
@@ -61,7 +61,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 2,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -81,7 +81,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [],
    "source": [