From 1974831a7d2a141395cad913bc7be9cb12b8d7a0 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Mon, 7 Dec 2015 02:17:22 +0100
Subject: [PATCH] updated joint limits of wrist 2 r and neck pitch to real
armar3a
---
data/RobotAPI/robots/Armar3/ArmarIII-Head.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-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index 1c3d0def7..378d6de62 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -33,7 +33,7 @@
<Joint type="revolute">
<!--DH theta="90" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/-->
<axis x="0" y="0" z="-1"/>
- <Limits unit="degree" lo="-45" hi="37"/>
+ <Limits unit="degree" lo="-45" hi="29"/>
<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 3f4b75084..34e053589 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
@@ -173,7 +173,7 @@
</Transform>
<Joint type="revolute">
<!--DH a="0" d="0" theta="-90" alpha="90" units="degree"/-->
- <Limits unit="degree" lo="-31" hi="38"/>
+ <Limits unit="degree" lo="-31" hi="37"/>
<MaxVelocity unit="radian" value="0.5"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
--
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