From 625eb572a6d0f3d017077bbda842fdee3783194a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20J=C3=BClg?= <christian.juelg@optonic.com>
Date: Wed, 24 Aug 2022 09:39:37 +0200
Subject: [PATCH] fix MH5 joint6 offset: 80mm per datasheet and spec

see table at https://github.com/ros-industrial/motoman/issues/377#issuecomment-742556746
---
 motoman_mh5_support/urdf/mh5_macro.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/motoman_mh5_support/urdf/mh5_macro.xacro b/motoman_mh5_support/urdf/mh5_macro.xacro
index 372dd547..fb850bc8 100644
--- 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>