From 96bbbf52502a7e599034949cb0b825d59ba5bb9a Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Sat, 7 May 2016 01:31:38 +0200
Subject: [PATCH] fixed hip yaw joint angle limits of Armar3 (were too narrow)
---
data/RobotAPI/robots/Armar3/ArmarIII.xml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII.xml b/data/RobotAPI/robots/Armar3/ArmarIII.xml
index 041a49047..32a21df52 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII.xml
@@ -123,7 +123,7 @@
<RobotNode name="Hip Yaw">
<Joint type="revolute">
<Axis x="0" y="0" z="1"/>
- <Limits unit="degree" lo="-90" hi="90"/>
+ <Limits unit="degree" lo="-130" hi="130"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
--
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