Fix joint limits

ros-industrial · Feb 5, 2021 · 0a08e93 · 0a08e93
1 parent a815aff
commit 0a08e93
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/kuka_kr60_support/urdf/kr60ha_macro.xacro b/kuka_kr60_support/urdf/kr60ha_macro.xacro
@@ -159,7 +159,7 @@
       <parent link="${prefix}base_link"/>
       <child link="${prefix}link_1"/>
       <axis xyz="0 0 -1"/>
-      <limit effort="0" lower="${radians(185)}" upper="${radians(185)}" velocity="${radians(128)}"/>
+      <limit effort="0" lower="${-radians(185)}" upper="${radians(185)}" velocity="${radians(128)}"/>
     </joint>
     <!-- joint 2 (A2) -->
     <joint name="${prefix}joint_2" type="revolute">