To tell you the truth I haven't quite grasped how the limits work either.
It's very hard to visualise them in your head, but I was hoping your editor would fix that. ;)
I think I understand what you mean regarding the arm, and I do think you're right about the SetJointPositionFrameA & B.
In your case FrameA is the shoulder and Frame B is the arm.
FrameA can have the same rotation, but FrameB should have an initial rotation of 45 degrees to compensate for the arm being down.
I just realized that I forgot to implement rotation of FrameA&B.
Will fix this tonight.
It's very hard to visualise them in your head, but I was hoping your editor would fix that. ;)
I think I understand what you mean regarding the arm, and I do think you're right about the SetJointPositionFrameA & B.
In your case FrameA is the shoulder and Frame B is the arm.
FrameA can have the same rotation, but FrameB should have an initial rotation of 45 degrees to compensate for the arm being down.
I just realized that I forgot to implement rotation of FrameA&B.
Will fix this tonight.