From 1d63ae7228943c863d387b447b21bdf59f451518 Mon Sep 17 00:00:00 2001
From: Simone Micheletti <simone_micheletti@outlook.it>
Date: Fri, 26 Apr 2024 16:10:09 +0200
Subject: [PATCH] fixed torso pitch to 10deg

---
 urdf/ergoCub/robots/ergoCubSN001/model.urdf | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/urdf/ergoCub/robots/ergoCubSN001/model.urdf b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
index 8747c3d8..3344d274 100644
--- a/urdf/ergoCub/robots/ergoCubSN001/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
@@ -124,13 +124,13 @@
       </material>
     </collision>
   </link>
-  <joint name="torso_pitch" type="revolute">
-    <origin xyz="-7.30886630439206e-17 -4.930380657631324e-32 0.11800000000000001" rpy="3.9719461100401744e-15 2.710505431213761e-20 1.0587911275090697e-22"/>
+  <joint name="torso_pitch" type="fixed">
+    <origin xyz="-7.30886630439206e-17 -4.930380657631324e-32 0.11800000000000001" rpy="3.9719461100401744e-15 0.174533 1.0587911275090697e-22"/>
     <axis xyz="1.058791184074231e-22 1 4.336808689942018e-19"/>
     <parent link="torso_1"/>
     <child link="torso_2"/>
-    <limit lower="-0.3141592653589793" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
-    <dynamics damping="2" friction="0"/>
+    <!--<limit lower="-0.3141592653589793" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>-->
+    <!--<dynamics damping="2" friction="0"/>-->
   </joint>
   <link name="torso_2">
     <inertial>