From 869783cef143f8da6ff344f57a7a65b699a15995 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Tue, 18 Jul 2023 16:24:12 +0800
Subject: [PATCH] Change joint limit and J2 movement direction_v20230718

---
 .../urdf/myarm/myarm_urdf.urdf                | 27 ++++++++++---------
 1 file changed, 14 insertions(+), 13 deletions(-)

diff --git a/mycobot_description/urdf/myarm/myarm_urdf.urdf b/mycobot_description/urdf/myarm/myarm_urdf.urdf
index b71b55d..ead1b92 100644
--- a/mycobot_description/urdf/myarm/myarm_urdf.urdf
+++ b/mycobot_description/urdf/myarm/myarm_urdf.urdf
@@ -39,13 +39,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/myarm/j2.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 0.0 " rpy = " 3.14159 3.14159 1.5708 "/>
+    <origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708 "/>
     </visual>
     <collision>
       <geometry>
        <mesh filename="package://mycobot_description/urdf/myarm/j2.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.0 " rpy = " 3.14159 3.14159 1.5708"/>
+      <origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
     </collision>
   </link>
 
@@ -55,13 +55,13 @@
        
        <mesh filename="package://mycobot_description/urdf/myarm/j3.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.054 " rpy = " 0 0 3.14159"/>
+      <origin xyz = "0.0 0 -0.054 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
        <mesh filename="package://mycobot_description/urdf/myarm/j3.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.054" rpy = " 0 0 3.14159"/>
+      <origin xyz = "0.0 0 -0.054" rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -138,7 +138,7 @@
 
   <joint name="joint1_to_base" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.79" upper = "2.87" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.7925" upper = "2.7925" velocity = "0"/>
     <parent link="base"/>
     <child link="joint1"/>
     <origin xyz= "0 0 0.165" rpy = "0 0 0"/>  
@@ -147,16 +147,17 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.5708" upper = "1.39" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.3962" upper = "1.3962" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
-    <origin xyz= "0 0  0" rpy = "1.5708 3.14159 0"/>  
+    <!-- <origin xyz= "0 0  0" rpy = "1.5708 3.14159 0"/>   -->
+    <origin xyz= "0 0  0" rpy = "-1.5708 0 0"/>  
   </joint>
 
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 -0.11 0   " rpy = "1.5708 0 0"/>  
@@ -166,16 +167,16 @@
  
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.91" upper = "1.39" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.7453" upper = "1.3962" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
-    <origin xyz= "0.0 0 0.0" rpy = "-1.5708 0 0"/>  
+    <origin xyz= "0.0 0 0.0" rpy = "-1.5708 0 3.14159"/>  
   </joint>
 
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "0 -0.126 0" rpy = "1.5708 0 0"/>  
@@ -184,7 +185,7 @@
  
   <joint name="joint6_to_joint5" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.91" upper = "1.91" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.9198" upper = "1.9198" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
     <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/>  
@@ -192,7 +193,7 @@
 
   <joint name="joint7_to_joint6" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint6"/>
     <child link="joint7"/>
     <origin xyz= "0 -0.056 0" rpy = "1.5708 0 0"/>