Wrist Mk2.0 vs Wrist Mk2.1

_{Wrist Mk2.0 (left) vs Wrist Mk2.1 (right)}

Wrist Mk2 and Elbow joints Specs

Joint number	Motors	Identifier	Type	Parent link	Child link	Mk2.0 lower limit	Mk2.0 upper limit	Mk2.1 low. l.	Mk2.1 upp. l.	Notes
		l_elbow	ROT	l_upperarm	l_forearm	-	-	-	-	E1 in fig.
		l_wrist_yaw	ROT	l_forearm	l_wrist_1	-92°	92°	-92°	92°	W1 in fig.
		l_wrist_roll	ROT	l_wrist_1	l_wrist_2	-62°	52°	-33°	40°	W2 in fig.
		l_wrist_pitch	ROT	l_wrist_2	l_hand_palm	-32°	32°	-20°	20°	W3 in fig.

_{Wrist Mk2 and Elbow joints 1/2}

_{Wrist Mk2 and Elbow joints 2/2}