pub fn igus_rebel_chain() -> CuKinematicChain<6>Expand description
Returns the 6-DOF kinematic chain for the igus ReBeL cobot.
Link origins, axes, and joint limits are derived directly from igus_rebel.urdf
(combining fixed motor-housing offsets with their corresponding revolute joints).
In RON the same chain is selected with "chain": "igus_rebel".