Joint limits fix

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@233 042f3d55-54a8-47e9-b7fb-15903f145c44

VirtualRobot/data/robots/iCub/iCub_Head.xml

@@ -6,7 +6,7 @@
 		<Joint type="revolute">
 			<!-- CenterOfArms is -143.3, the official DH_d value is -223.3(-> -80 here), but in the iCubGui the value is -193.3(-> -50 here), that looks better?! --> 
 			<DH a="0" d="-50.0" theta="-90" alpha="-90" units="degree"/>
-			<Limits unit="degree" lo="-40" hi="22"/>
+			<Limits unit="degree" lo="-50" hi="50"/>
 		</Joint>
 		<Child name="Neck2"/>
 	</RobotNode>
@@ -15,7 +15,7 @@
 	<RobotNode name="Neck2">
 		<Joint type="revolute">
 			<DH a="9.5" d="0.0" theta="90" alpha="90" units="degree"/>
-			<Limits unit="degree" lo="-20" hi="20"/>
+			<Limits unit="degree" lo="-50" hi="50"/>
 		</Joint>
 		<Child name="Neck3"/>
 	</RobotNode>

VirtualRobot/data/robots/iCub/iCub_RightArm.xml

@@ -71,7 +71,7 @@
 	<RobotNode name="Right Arm Elbow2">
 		<Joint type="revolute">
 			<DH a="0" d="-137.3" theta="-90" alpha="90" units="degree"/>
-			<Limits unit="degree" lo="-50" hi="50"/>
+			<Limits unit="degree" lo="-90" hi="90"/>
 		</Joint>
 		<Visualization enable="true">
 			<File type="Inventor">model/Arms/rightLowerArm.iv</File>
@@ -156,4 +156,4 @@
 		<Node name="Right Hand Pinky Joint4"/>
 	</RobotNodeSet>
 	
-	</Robot>
\ No newline at end of file
+	</Robot>