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Fix joint1 axis orientation in joints.xacro for correct kinematic behavior

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Даниил Грабарь
2026-05-18 07:14:53 +03:00
parent 04b5c99ec8
commit aa000c0b02
1 changed files with 1 additions and 1 deletions
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src/iiwa_description/urdf/joints.xacro
+1 -1
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@@ -11,7 +11,7 @@
<!-- joint1: ±170° hard, ±165° soft, k_velocity=10 --> <!-- joint1: ±170° hard, ±165° soft, k_velocity=10 -->
<xacro:revolute_joint jname="joint1" parent="base_link" child="link1" <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" lower="-2.97" upper="2.97" effort="200"
velocity="1.71" damping="10.0" friction="0.1" velocity="1.71" damping="10.0" friction="0.1"
soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/> soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/>