diff --git a/kuka_agilus_support/urdf/kr10_r1100-2_macro.xacro b/kuka_agilus_support/urdf/kr10_r1100-2_macro.xacro
index edf0858..0f69a28 100644
--- a/kuka_agilus_support/urdf/kr10_r1100-2_macro.xacro
+++ b/kuka_agilus_support/urdf/kr10_r1100-2_macro.xacro
@@ -219,7 +219,7 @@
     <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>
 
@@ -227,7 +227,7 @@
     <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>