From dc472667699cdb119860366eaf78380bdc1e4c6f Mon Sep 17 00:00:00 2001
From: weijian <weijian.wang@elephantrobotics.com>
Date: Thu, 1 Sep 2022 14:13:54 +0800
Subject: [PATCH] update

---
 Mira/mira/scripts/simple_gui.py                  | 4 ++--
 Mira/mira/scripts/slider_control.py              | 2 +-
 Mira/mira_communication/scripts/mira_services.py | 8 +++-----
 mycobot_description/urdf/mira_urdf/mira.urdf     | 4 ++--
 4 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/Mira/mira/scripts/simple_gui.py b/Mira/mira/scripts/simple_gui.py
index b245948..c063270 100755
--- a/Mira/mira/scripts/simple_gui.py
+++ b/Mira/mira/scripts/simple_gui.py
@@ -337,8 +337,8 @@ class Window:
                     round(self.angles.joint_3, 2),
     
                 ]
-                print('coord:',self.record_coords)
-                print('angles:',self.res_angles)
+                # print('coord:',self.record_coords)
+                # print('angles:',self.res_angles)
 
     # def send_input(self,dates):
     def show_j_date(self, date, way=""):
diff --git a/Mira/mira/scripts/slider_control.py b/Mira/mira/scripts/slider_control.py
index 6660b73..5c4d471 100755
--- a/Mira/mira/scripts/slider_control.py
+++ b/Mira/mira/scripts/slider_control.py
@@ -28,7 +28,7 @@ def callback(data):
         data_list.append(round(value,3))
   
     print('data_list:',data_list)
-    ma.set_radians(data_list[0],data_list[1],data_list[2], 50)
+    ma.set_radians(data_list[0],data_list[1],data_list[2], 80)
     # time.sleep(0.5)
 
 
diff --git a/Mira/mira_communication/scripts/mira_services.py b/Mira/mira_communication/scripts/mira_services.py
index 6ab7e30..26b9a61 100755
--- a/Mira/mira_communication/scripts/mira_services.py
+++ b/Mira/mira_communication/scripts/mira_services.py
@@ -57,9 +57,8 @@ def get_angles(req):
         angles = ma.get_angles_info()
         # angles = [0.0, 0.0, 0.0, 0.0]
         if angles != None:
-            angles_data = angles[:3]
             # print('angles:',angles)
-            return GetAnglesResponse(*angles_data)
+            return GetAnglesResponse(*angles)
 
 
 def set_coords(req):
@@ -80,11 +79,10 @@ def set_coords(req):
 def get_coords(req):
     if ma:
         # coords = ma.get_coords_info()
-        coords = [0.0, 0.0, 0.0, 0.0]
+        coords = [0.0, 0.0, 0.0]
         if coords != None:
-            coords_data = coords[:3]
             # print('coords:',coords)
-            return GetCoordsResponse(*coords_data)
+            return GetCoordsResponse(*coords)
 
 
 def switch_status(req):
diff --git a/mycobot_description/urdf/mira_urdf/mira.urdf b/mycobot_description/urdf/mira_urdf/mira.urdf
index fb3b139..9c41842 100644
--- a/mycobot_description/urdf/mira_urdf/mira.urdf
+++ b/mycobot_description/urdf/mira_urdf/mira.urdf
@@ -73,7 +73,7 @@
 
   <joint name="joint1_to_base" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.967" upper = "2.967" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.36" upper = "2.967" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
     <origin xyz= "0 0 0.12" rpy = "3.1415926 0 0"/>  
@@ -82,7 +82,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "0" upper = "1.14" velocity = "0"/>
+    <limit effort = "1000.0" lower = "0" upper = "0.90" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
     <origin xyz= "0.03 0 0.01" rpy = " -1.5707963 3.1415926 3.1415926 "/>