From 6269a3189816e381ee81faf030b33411aacdaefe Mon Sep 17 00:00:00 2001
From: DzC-0i <11778119+DzC-0i@user.noreply.gitee.com>
Date: Tue, 26 Nov 2024 17:29:26 +0800
Subject: [PATCH] =?UTF-8?q?modify=20v1.0.7=20=E6=9B=B4=E6=96=B0=E6=9C=AB?=
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---
 README.md                     | 13 ++++++++-----
 robots/coarm/coarm.urdf.xacro |  2 +-
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/README.md b/README.md
index adfbf9c..f44ca08 100644
--- a/README.md
+++ b/README.md
@@ -5,18 +5,21 @@ Coarm机器人模型描述，在ROS1、ROS2下支持所有Coarm机器人模型
 
 The Coarm Description repository offers all Coarm models.
 
+### Update v1.0.7
+1. 更新末端关节向与实物对应
+
 ### Update v1.0.6
-1.降低Coarm机械臂模型文件大小
-2.更新模型运动转向
+1. 降低Coarm机械臂模型文件大小
+2. 更新模型运动转向
 
 ### Update v1.0.5
-1.更新Coarm机械臂模型
+1. 更新Coarm机械臂模型
 
 ### Update v1.0.4
-1.新增use_fake_hardware参数用于控制ros2_control插件加载
+1. 新增use_fake_hardware参数用于控制ros2_control插件加载
 
 ### Update v1.0.3
-1.调整测试环境为兼容性强的ROS 2 humble，并进行适应性修改
+1. 调整测试环境为兼容性强的ROS 2 humble，并进行适应性修改
 
 ### Update v1.0.2
 1. 更新Coarm机械臂文件查找路径，避免环境变量GZ_SIM_RESOURCE_PATH设置的问题
diff --git a/robots/coarm/coarm.urdf.xacro b/robots/coarm/coarm.urdf.xacro
index 41ff344..4a51e81 100644
--- a/robots/coarm/coarm.urdf.xacro
+++ b/robots/coarm/coarm.urdf.xacro
@@ -288,7 +288,7 @@
       <origin xyz="0 0 0.047"  rpy="0 0 0" />
       <parent link="wrist2_Link" />
       <child link="wrist3_Link" />
-      <axis xyz="0 0 -1" />
+      <axis xyz="0 0 1" />
       <limit lower="-3.14" upper="3.14"
              effort="13.5" velocity="3.1105" />
     </joint>
-- 
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