From f67974a1a242f4e79f0844f1cde98195bb702635 Mon Sep 17 00:00:00 2001
From: David <david.schiebener@kit.edu>
Date: Fri, 22 Jan 2016 11:42:16 +0100
Subject: [PATCH] adapted elbow joint in robot model
---
data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml | 2 +-
data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
index 77c6a952c..bb90ca542 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
@@ -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"/>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
index 34e053589..2aa2c287c 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
@@ -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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