diff --git a/myArm/myarm/scripts/listen_real.py b/myArm/myarm/scripts/listen_real.py
index 7ac6b97..34b1922 100755
--- a/myArm/myarm/scripts/listen_real.py
+++ b/myArm/myarm/scripts/listen_real.py
@@ -57,7 +57,7 @@ def talker():
         # publish angles.发布角度
         joint_state_send.header.stamp = rospy.Time.now()
         joint_state_send.position = radians_list
-        pub.publish(joint_state_send)
+        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 95b0591..d643274 100644
--- a/mycobot_description/urdf/myarm/myarm_urdf.urdf
+++ b/mycobot_description/urdf/myarm/myarm_urdf.urdf
@@ -114,7 +114,7 @@
        
        <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"/>
     </collision>
   </link>