From b0bb645a5345d646515fad0e3dba0eefca53e8f6 Mon Sep 17 00:00:00 2001
From: Martina Gloria <114698424+martinaxgloria@users.noreply.github.com>
Date: Tue, 1 Oct 2024 09:12:26 +0200
Subject: [PATCH] iCubGenova11 - Adjust wrist pronosup limits (#683)

---
 .../hardware/motorControl/left_arm-eb24-j4_7-mc.xml         | 6 ++----
 .../hardware/motorControl/right_arm-eb27-j4_7-mc.xml        | 6 ++----
 2 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/iCubGenova11/hardware/motorControl/left_arm-eb24-j4_7-mc.xml b/iCubGenova11/hardware/motorControl/left_arm-eb24-j4_7-mc.xml
index 852baaf959..63fc6d8ba6 100644
--- a/iCubGenova11/hardware/motorControl/left_arm-eb24-j4_7-mc.xml
+++ b/iCubGenova11/hardware/motorControl/left_arm-eb24-j4_7-mc.xml
@@ -12,8 +12,8 @@
     <!-- joint number                           0                   1                   2                   3                   -->
     <!-- joint name                             "l_wrist_prosup"    "l_wrist_pitch"     "l_wrist_yaw"       "l_hand_finger"     -->
     <group name="LIMITS">
-        <param name="jntPosMax">                 60                 25                  35                  60                  </param>
-        <param name="jntPosMin">                -60                 -70                 -15                 10                  </param>
+        <param name="jntPosMax">                 85                 25                  35                  60                  </param>
+        <param name="jntPosMin">                -85                 -70                 -15                 10                  </param>
         <param name="jntVelMax">                1000                1000                1000                1000                </param>
         <param name="motorOverloadCurrents">    10000               2000                2000                2000                </param>
         <param name="motorNominalCurrents">     5000                1000                1000                600                 </param>
@@ -92,5 +92,3 @@
     <!-- custom PIDs: end -->
     
 </device>
-
-
diff --git a/iCubGenova11/hardware/motorControl/right_arm-eb27-j4_7-mc.xml b/iCubGenova11/hardware/motorControl/right_arm-eb27-j4_7-mc.xml
index 85401f9328..f51daa4b08 100644
--- a/iCubGenova11/hardware/motorControl/right_arm-eb27-j4_7-mc.xml
+++ b/iCubGenova11/hardware/motorControl/right_arm-eb27-j4_7-mc.xml
@@ -12,8 +12,8 @@
     <!-- joint number                           0                   1                   2                   3                   -->
     <!-- joint name                             "r_wrist_prosup"    "r_wrist_pitch"     "r_wrist_yaw"       "r_hand_finger"     -->
     <group name="LIMITS">
-        <param name="jntPosMax">                 60                 25                  35                  60                  </param>
-        <param name="jntPosMin">                -60                 -70                 -15                 10                  </param>
+        <param name="jntPosMax">                 85                 25                  35                  60                  </param>
+        <param name="jntPosMin">                -85                 -70                 -15                 10                  </param>
         <param name="jntVelMax">                1000                1000                1000                1000                </param>
         <param name="motorOverloadCurrents">    10000               2000                2000                2000                </param>
         <param name="motorNominalCurrents">     5000                1000                1000                600                 </param>
@@ -92,5 +92,3 @@
     <!-- custom PIDs: end -->
 
 </device>
-
-