From a823aeb503de28ba9bdf334cd4275b8c75c6ca40 Mon Sep 17 00:00:00 2001
From: David <david.schiebener@kit.edu>
Date: Mon, 18 Jan 2016 16:43:25 +0100
Subject: [PATCH] fixed Cameras joint limit
---
data/RobotAPI/robots/Armar3/ArmarIII-Head.xml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index 045cd6af4..e958a6c65 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -189,7 +189,7 @@
</Transform>
<Joint type="revolute">
<Axis x="0" y="0" z="-1"/>
- <Limits unit="degree" lo="-24" hi="5"/> <!-- Real high limit is 27. Deactivated to avoid unnatural poses-->
+ <Limits unit="degree" lo="-20" hi="5"/> <!-- Motor encoder gives values until -24, but eyes only move until -20 or -21 -->
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
--
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