minor fixes

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@341 042f3d55-54a8-47e9-b7fb-15903f145c44

VirtualRobot/data/robots/ArmarIII/ArmarIII-LeftArm.xml

@@ -34,7 +34,7 @@
 		</Joint>
 		<Physics>
             <CoM location="Joint"/>
-            <Mass value="2.54491000" units="kg" />
+            <Mass value="2.5" units="kg" />
         </Physics>
         <Visualization enable="true">
 			<File type="Inventor">fullmodel/shoulder2_l_rot.iv</File>

VirtualRobot/data/robots/ArmarIII/ArmarIII-RightArm.xml

@@ -35,7 +35,11 @@
 			<DH a="0" d="0" theta="105" alpha="90" units="degree"/>
 			<Limits unit="degree" lo="-13.85" hi="94.62"/>  <!-- ?! -->
 		</Joint>
-		<Visualization enable="true">
+        <Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="2.5" units="kg" />
+        </Physics>
+        <Visualization enable="true">
 			<File type="Inventor">fullmodel/shoulder2_r_rot.iv</File>
 		</Visualization>
 		<CollisionModel>