Safe joint ranges for upperbody experiments

Hey

we checked with JB the joint range of the arms. According to the files in the laptop, we have:

arms_max = [10 160 80 106 90 0 35]
arms_min = [-95 0 -37 15 -90 -90 -15]

We moved the iCub and we propose to reduce the joint range to the following:

arms_max = [6 80 78 85 60 0 30]
arms_min = [-85 15 -15 15 -70 -70 -10]

The new range is a bit safer. These values should be put in our URDF.
