From aa000c0b02829bd4f547213bbdc68f5e24647ffc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?=
 =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= <grabardm@ml-dev.ru>
Date: Mon, 18 May 2026 07:14:53 +0300
Subject: [PATCH] Fix joint1 axis orientation in joints.xacro for correct
 kinematic behavior

---
 src/iiwa_description/urdf/joints.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/iiwa_description/urdf/joints.xacro b/src/iiwa_description/urdf/joints.xacro
index 0359163..53be5aa 100644
--- a/src/iiwa_description/urdf/joints.xacro
+++ b/src/iiwa_description/urdf/joints.xacro
@@ -11,7 +11,7 @@
 
     <!-- joint1: ±170° hard, ±165° soft, k_velocity=10 -->
     <xacro:revolute_joint jname="joint1" parent="base_link" child="link1"
-                        xyz="0 0 0.3375" rpy="0 0 0" axis="0 0 1"
+                        xyz="0 0 0.3375" rpy="0 0 0" axis="0 0 -1"
                         lower="-2.97" upper="2.97" effort="200"
                         velocity="1.71" damping="10.0" friction="0.1"
                         soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/>