From 3b386343c2e0c31ffbe5356df6f1d9dcd63aeb7e Mon Sep 17 00:00:00 2001
From: weijian <weijian.wang@elephantrobotics.com>
Date: Tue, 13 Jun 2023 18:53:12 +0800
Subject: [PATCH] fix and opt urdf

---
 myArm/myarm/scripts/listen_real.py             | 1 -
 mycobot_description/urdf/myarm/myarm_urdf.urdf | 8 ++++----
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/myArm/myarm/scripts/listen_real.py b/myArm/myarm/scripts/listen_real.py
index 34b1922..a5a5765 100755
--- a/myArm/myarm/scripts/listen_real.py
+++ b/myArm/myarm/scripts/listen_real.py
@@ -57,7 +57,6 @@ def talker():
         # publish angles.发布角度
         joint_state_send.header.stamp = rospy.Time.now()
         joint_state_send.position = radians_list
-        print('radius:', radians_list)
         rate.sleep()
 
 
diff --git a/mycobot_description/urdf/myarm/myarm_urdf.urdf b/mycobot_description/urdf/myarm/myarm_urdf.urdf
index d643274..9d7a756 100644
--- a/mycobot_description/urdf/myarm/myarm_urdf.urdf
+++ b/mycobot_description/urdf/myarm/myarm_urdf.urdf
@@ -107,14 +107,14 @@
        
        <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>
        
        <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"/>
     </collision>
   </link>
 
@@ -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 3.14 0"/>  
+    <origin xyz= "0 0.0 0" rpy = "-1.5708 0 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 1.5708 0"/>  
+    <origin xyz= "0 -0.056 0" rpy = "1.5708 0 0"/>  
   </joint>