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Commit 5fde46c0 authored by Mirko Wächter's avatar Mirko Wächter
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adapted Armar3 model joint angles to real robot

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data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
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......@@ -72,7 +72,7 @@
<Joint type="revolute">
<!--DH a="20" d="-310" theta="-90" alpha="90" units="degree"/-->
<axis x="0" y="0" z="-1"/>
<Limits unit="degree" lo="-70" hi="109"/>
<Limits unit="degree" lo="-70" hi="70"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
......@@ -99,7 +99,7 @@
<Joint type="revolute">
<!--DH a="0" d="-7.5" theta="90" alpha="-90" units="degree"/-->
<axis x="0" y="0" z="1"/>
<Limits unit="degree" lo="-120" hi="40"/>
<Limits unit="degree" lo="-120" hi="19"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
......@@ -127,7 +127,7 @@
<!--DH a="0" d="-240" theta="90" alpha="-90" units="degree"/-->
<axis x="0" y="0" z="-1"/>
<!--Limits unit="degree" lo="-57.29" hi="174.48"/-->
<Limits unit="degree" lo="-90" hi="200"/>
<Limits unit="degree" lo="-90" hi="158"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
......
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