From bbbaf6108f263744b9ded5e4bf1c62fc1da079cc Mon Sep 17 00:00:00 2001
From: ipa-nhg <nhg@ipa.fhg.de>
Date: Tue, 2 Jul 2019 17:17:31 +0200
Subject: [PATCH] Add optional safety_controller tags for e series descriptions
---
ur_e_description/urdf/ur10e.urdf.xacro | 51 +++++++++++++++++++++++---
ur_e_description/urdf/ur3e.urdf.xacro | 51 +++++++++++++++++++++++---
ur_e_description/urdf/ur5e.urdf.xacro | 51 +++++++++++++++++++++++---
3 files changed, 135 insertions(+), 18 deletions(-)
diff --git a/ur_e_description/urdf/ur10e.urdf.xacro b/ur_e_description/urdf/ur10e.urdf.xacro
index ca80aa9..1dc1526 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 726d8f7..43c483e 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 9dfc5a4..2f04209 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>
--
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