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Commit f67974a1 authored by David Schiebener's avatar David Schiebener
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adapted elbow joint in robot model

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data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
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View file @ f67974a1
......@@ -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="19"/>
<Limits unit="degree" lo="-90" hi="27"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
......
data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
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View file @ f67974a1
......@@ -95,7 +95,7 @@
</Transform>
<Joint type="revolute">
<!--DH a="0" d="7.5" theta="90" alpha="-90" units="degree"/-->
<Limits unit="degree" lo="-120" hi="40"/>
<Limits unit="degree" lo="-90" hi="30"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
......
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