From 02a647a384984253f95d9252c4ea34f193e6e80a Mon Sep 17 00:00:00 2001
From: weijian <weijian.wang@elephantrobotics.com>
Date: Tue, 13 Jun 2023 17:19:56 +0800
Subject: [PATCH] fix urdf model

---
 myArm/myarm/config/myarm.rviz                       | 6 +++---
 myArm/myarm/scripts/teleop_keyboard.py              | 4 ++--
 myArm/myarm_communication/scripts/myarm_services.py | 1 +
 mycobot_description/urdf/myarm/myarm_urdf.urdf      | 6 +++---
 4 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/myArm/myarm/config/myarm.rviz b/myArm/myarm/config/myarm.rviz
index 857b8c2..b237a4d 100755
--- a/myArm/myarm/config/myarm.rviz
+++ b/myArm/myarm/config/myarm.rviz
@@ -188,7 +188,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.444238305091858
+      Distance: 1.2526283264160156
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -204,9 +204,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.36039817333221436
+      Pitch: 0.2103991061449051
       Target Frame: <Fixed Frame>
-      Yaw: 2.790395975112915
+      Yaw: 2.6453990936279297
     Saved: ~
 Window Geometry:
   Displays:
diff --git a/myArm/myarm/scripts/teleop_keyboard.py b/myArm/myarm/scripts/teleop_keyboard.py
index 3f8ead5..d31ef27 100755
--- a/myArm/myarm/scripts/teleop_keyboard.py
+++ b/myArm/myarm/scripts/teleop_keyboard.py
@@ -80,8 +80,8 @@ def teleop_keyboard():
         print("start error ...")
         exit(1)
 
-    init_pose = [0, 0, 0, 0, 0, 0, speed]
-    home_pose = [0, 8, -127, 40, 0, 0, speed]
+    init_pose = [0, 0, 0, 0, 0, 0, 0, speed]
+    home_pose = [0, 0, 0, -90, 0, -90, 0, speed]
 
     # rsp = set_angles(*init_pose)
 
diff --git a/myArm/myarm_communication/scripts/myarm_services.py b/myArm/myarm_communication/scripts/myarm_services.py
index 64b5f1c..691abae 100755
--- a/myArm/myarm_communication/scripts/myarm_services.py
+++ b/myArm/myarm_communication/scripts/myarm_services.py
@@ -167,6 +167,7 @@ Joint Limit:
     joint 4: -170 ~ +170
     joint 5: -170 ~ +170
     joint 6: -180 ~ +180
+    joint 7: -180 ~ +180
 
 Connect Status: %s
 
diff --git a/mycobot_description/urdf/myarm/myarm_urdf.urdf b/mycobot_description/urdf/myarm/myarm_urdf.urdf
index 9d7a756..95b0591 100644
--- a/mycobot_description/urdf/myarm/myarm_urdf.urdf
+++ b/mycobot_description/urdf/myarm/myarm_urdf.urdf
@@ -107,7 +107,7 @@
        
        <mesh filename="package://mycobot_description/urdf/myarm/j6.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.0 " rpy = " 0 0 -1.5708"/>
+    <origin xyz = "0.0 0 -0.0 " rpy = " 0 0 1.5708"/>
     </visual>
     <collision>
       <geometry>
@@ -188,7 +188,7 @@
     <limit effort = "1000.0" lower = "-1.5708" upper = "1.5708" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
-    <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/>  
+    <origin xyz= "0 0.0 0" rpy = "-1.5708 3.14 0"/>  
   </joint>
 
   <joint name="joint7_to_joint6" type="revolute">
@@ -196,7 +196,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="joint6"/>
     <child link="joint7"/>
-    <origin xyz= "0 -0.056 0" rpy = "1.5708 0 0"/>  
+    <origin xyz= "0 0.056 0" rpy = "-1.5708 1.5708 0"/>  
   </joint>