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>