t6</h1><p><span class="helptopic">A minimalistic 6DOF robot arm with shoulder offset</span></p><p>
MDL_OFFSET6 is a script that creates the workspace variable off6 which
describes the kinematic characteristics of a simple arm manipulator with
a spherical wrist and a shoulder offset, using standard DH conventions.

</p>
<p>
Also define the workspace vectors:

</p>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> qz</td> <td>zero joint angle configuration</td></tr>
</table>
<h2>Notes<