We're going to need a bit more information.
What exactly does "wrong pose" mean? If you can, make a screenshot of RViz and indicate what is not correct.
Also: how do you start everything? The launch files in the `fanuc_lrmate200ic_support` package set the correct configuration for all supported models, but if you're directly using the launch files in `fanuc_driver` then _you_ are responsible for making sure everything is correct.
Finally: it's not as extensive as it should be, but the [ Running the ROS-Industrial programs on your Fanuc robot](
http://wiki.ros.org/fanuc/Tutorials/Running) tutorial describes the steps that show you how to check things are configured correctly for your robot.
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