function oc = wristcenter0(T05)
% WRISTCENTER A155 wrist center given end effector pose.

% location of frame 5
o05 = T05(1:3, 4);

% orientation of frame 5
R05 = T05(1:3, 1:3);

% wrist center
oc = o05 - 2 * R05 * [0; 0; 1];

