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

2026-05-18 07:14:53 +03:00
parent 04b5c99ec8
commit aa000c0b02
1 changed files with 1 additions and 1 deletions
@@ -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"/>