diff --git a/ur_e_description/urdf/ur10e.urdf.xacro b/ur_e_description/urdf/ur10e.urdf.xacro
index ca80aa9f86bf2fffa043c14d1e6a3b0e93d330a4..1dc15264214c0fa923ed9e47e75c4121655ad9c1 100644
--- a/ur_e_description/urdf/ur10e.urdf.xacro
+++ b/ur_e_description/urdf/ur10e.urdf.xacro
@@ -20,12 +20,15 @@
   </xacro:macro>
 
   <xacro:macro name="ur10e_robot" params="prefix joint_limited
-		 shoulder_pan_lower_limit:=${-pi}    shoulder_pan_upper_limit:=${pi}
-		 shoulder_lift_lower_limit:=${-pi}    shoulder_lift_upper_limit:=${pi}
-		 elbow_joint_lower_limit:=${-pi}    elbow_joint_upper_limit:=${pi}
-		 wrist_1_lower_limit:=${-pi}    wrist_1_upper_limit:=${pi}
-		 wrist_2_lower_limit:=${-pi}    wrist_2_upper_limit:=${pi}
-		 wrist_3_lower_limit:=${-pi}    wrist_3_upper_limit:=${pi}">
+    shoulder_pan_lower_limit:=${-pi}    shoulder_pan_upper_limit:=${pi}
+    shoulder_lift_lower_limit:=${-pi}    shoulder_lift_upper_limit:=${pi}
+    elbow_joint_lower_limit:=${-pi}    elbow_joint_upper_limit:=${pi}
+    wrist_1_lower_limit:=${-pi}    wrist_1_upper_limit:=${pi}
+    wrist_2_lower_limit:=${-pi}    wrist_2_upper_limit:=${pi}
+    wrist_3_lower_limit:=${-pi}    wrist_3_upper_limit:=${pi}
+    transmission_hw_interface:=hardware_interface/PositionJointInterface
+    safety_limits:=false safety_pos_margin:=0.15
+    safety_k_position:=20">
 
     <!-- Inertia parameters -->
     <xacro:property name="base_mass" value="4.0" />  <!-- This mass might be incorrect -->
@@ -94,9 +97,15 @@
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="330.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -127,9 +136,15 @@
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="330.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -160,9 +175,15 @@
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -193,9 +214,15 @@
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="54.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -226,9 +253,15 @@
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="54.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -259,9 +292,15 @@
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="54.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
diff --git a/ur_e_description/urdf/ur3e.urdf.xacro b/ur_e_description/urdf/ur3e.urdf.xacro
index 726d8f7b7bb33f2a96a82184a4926721bbf13d86..43c483ee7513bc3e994f921500efaf3f93ae06c3 100644
--- a/ur_e_description/urdf/ur3e.urdf.xacro
+++ b/ur_e_description/urdf/ur3e.urdf.xacro
@@ -19,12 +19,15 @@
   </xacro:macro>
 
   <xacro:macro name="ur3e_robot" params="prefix joint_limited
-     shoulder_pan_lower_limit:=${-pi}    shoulder_pan_upper_limit:=${pi}
-     shoulder_lift_lower_limit:=${-pi}    shoulder_lift_upper_limit:=${pi}
-     elbow_joint_lower_limit:=${-pi}    elbow_joint_upper_limit:=${pi}
-     wrist_1_lower_limit:=${-pi}    wrist_1_upper_limit:=${pi}
-     wrist_2_lower_limit:=${-pi}    wrist_2_upper_limit:=${pi}
-     wrist_3_lower_limit:=${-pi}    wrist_3_upper_limit:=${pi}">
+    shoulder_pan_lower_limit:=${-pi}    shoulder_pan_upper_limit:=${pi}
+    shoulder_lift_lower_limit:=${-pi}    shoulder_lift_upper_limit:=${pi}
+    elbow_joint_lower_limit:=${-pi}    elbow_joint_upper_limit:=${pi}
+    wrist_1_lower_limit:=${-pi}    wrist_1_upper_limit:=${pi}
+    wrist_2_lower_limit:=${-pi}    wrist_2_upper_limit:=${pi}
+    wrist_3_lower_limit:=${-pi}    wrist_3_upper_limit:=${pi}
+    transmission_hw_interface:=hardware_interface/PositionJointInterface
+    safety_limits:=false safety_pos_margin:=0.15
+    safety_k_position:=20">
 
     <!-- Inertia parameters -->
     <xacro:property name="base_mass" value="2.0" />  <!-- This mass might be incorrect -->
@@ -93,9 +96,15 @@
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="330.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -126,9 +135,15 @@
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="330.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if> 
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -159,9 +174,15 @@
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -192,9 +213,15 @@
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="54.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -225,9 +252,15 @@
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="54.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -258,9 +291,15 @@
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="54.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
diff --git a/ur_e_description/urdf/ur5e.urdf.xacro b/ur_e_description/urdf/ur5e.urdf.xacro
index 9dfc5a4c2896bfdcf303f8c63fa16fe5c4da272a..2f0420994a963c4c0e463db3417ae1c44f28947c 100644
--- a/ur_e_description/urdf/ur5e.urdf.xacro
+++ b/ur_e_description/urdf/ur5e.urdf.xacro
@@ -15,12 +15,15 @@
   </xacro:macro>
 
   <xacro:macro name="ur5e_robot" params="prefix joint_limited
-     shoulder_pan_lower_limit:=${-pi}    shoulder_pan_upper_limit:=${pi}
-     shoulder_lift_lower_limit:=${-pi}    shoulder_lift_upper_limit:=${pi}
-     elbow_joint_lower_limit:=${-pi}    elbow_joint_upper_limit:=${pi}
-     wrist_1_lower_limit:=${-pi}    wrist_1_upper_limit:=${pi}
-     wrist_2_lower_limit:=${-pi}    wrist_2_upper_limit:=${pi}
-     wrist_3_lower_limit:=${-pi}    wrist_3_upper_limit:=${pi}">
+    shoulder_pan_lower_limit:=${-pi}    shoulder_pan_upper_limit:=${pi}
+    shoulder_lift_lower_limit:=${-pi}    shoulder_lift_upper_limit:=${pi}
+    elbow_joint_lower_limit:=${-pi}    elbow_joint_upper_limit:=${pi}
+    wrist_1_lower_limit:=${-pi}    wrist_1_upper_limit:=${pi}
+    wrist_2_lower_limit:=${-pi}    wrist_2_upper_limit:=${pi}
+    wrist_3_lower_limit:=${-pi}    wrist_3_upper_limit:=${pi}
+    transmission_hw_interface:=hardware_interface/PositionJointInterface
+    safety_limits:=false safety_pos_margin:=0.15
+    safety_k_position:=20">
 
     <!-- Inertia parameters -->
     <xacro:property name="base_mass" value="4.0" />  <!-- This mass might be incorrect -->
@@ -110,9 +113,15 @@
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="150.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -143,9 +152,15 @@
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="150.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -176,9 +191,15 @@
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.14"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -209,9 +230,15 @@
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="28.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -242,9 +269,15 @@
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="28.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
@@ -275,9 +308,15 @@
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="28.0" velocity="6.28"/>
+        <xacro:if value="${safety_limits}">
+          <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+        </xacro:if>
       </xacro:if>
       <dynamics damping="0.0" friction="0.0"/>
     </joint>