fix MH5 joint6 offset: 80mm per datasheet and spec

see table at ros-industrial#377 (comment)
isys-vision · Mar 27, 2023 · 625eb57 · 625eb57
1 parent 1128e67
commit 625eb57
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/motoman_mh5_support/urdf/mh5_macro.xacro b/motoman_mh5_support/urdf/mh5_macro.xacro
@@ -152,7 +152,7 @@
     <joint name="${prefix}joint_6_t" type="revolute">
       <parent link="${prefix}link_5_b"/>
       <child link="${prefix}link_6_t"/>
-      <origin xyz="0.0865 0 0" rpy="0 0 0"/>
+      <origin xyz="0.080 0 0" rpy="0 0 0"/>
       <axis xyz="-1 0 0" />
       <limit lower="-${radians(360)}" upper="${radians(360)}" effort="18.0" velocity="${radians(720)}" />
     </joint>