Universal Robots+

Is_within_safety_limits not working in URSim

Summary

is_within_safety_limits does not check safety limits in URSim

Versions

  • Affected Robot Software Version(s): 5.8.0.10253

Impact

Impossible to check if a pose is within safety limits

Steps to Reproduce

Set some safety limits in installatation (e.g. TCP orientation deviation limits or safety plane limits), assign a pose outside safety limits to a variable var_1 and check it with the script var_2 = is_within_safety_limits(var_1)

Expected Behavior

var_2 False

Actual Behavior

var_2 True