fix flange trafo

kroshu · Aug 25, 2023 · f8e848d · f8e848d
1 parent b07e7b3
commit f8e848d
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/kuka_agilus_support/urdf/kr10_r1100-2_macro.xacro b/kuka_agilus_support/urdf/kr10_r1100-2_macro.xacro
@@ -219,15 +219,15 @@
     <link name="${prefix}flange" />
     <joint name="${prefix}link6-flange" type="fixed">
       <child link="${prefix}flange" />
-      <origin rpy="0 ${pi} -0.0" xyz="0.0 0.0 -0.1605" />
+      <origin rpy="0 ${pi} -0.0" xyz="0.0 0.0 -0.09" />
       <parent link="${prefix}link_6" />
     </joint>
 
     <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
     <link name="${prefix}tool0" />
     <joint name="${prefix}link6-tool0" type="fixed">
       <child link="${prefix}tool0" />
-      <origin rpy="0 ${pi} -0.0" xyz="0.0 0.0 -0.1605" />
+      <origin rpy="0 ${pi} -0.0" xyz="0.0 0.0 -0.09" />
       <parent link="${prefix}link_6" />
     </joint>
   </xacro:macro>