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description: add missing safety_ctrlr for shoulder pan. (#514)
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gavanderhoorn authored Jun 18, 2020
1 parent 8e65c39 commit 6711879
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3 changes: 3 additions & 0 deletions ur_description/urdf/ur_macro.xacro
Original file line number Diff line number Diff line change
Expand Up @@ -237,6 +237,9 @@
<axis xyz="0 0 1" />
<limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}"
effort="${shoulder_pan_effort_limit}" velocity="${shoulder_pan_velocity_limit}"/>
<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>
<dynamics damping="0" friction="0"/>
</joint>
<joint name="${prefix}shoulder_lift_joint" type="revolute">
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