# Is\_within\_safety\_limits not working in URSim

**URL:** <https://forum.universal-robots.com/t/is-within-safety-limits-not-working-in-ursim/7404>\
**Category:** Technical Questions\
**Tags:** bugs\
**Created:** [May 22, 2020, 2:22pm UTC](https://forum.universal-robots.com/t/is-within-safety-limits-not-working-in-ursim/7404 "2020-05-22T14:22:41Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![anon3164729](https://avatars.discourse-cdn.com/v4/letter/a/87869e/32.png) [@anon3164729](https://forum.universal-robots.com/u/anon3164729)\
**Post date:** [May 22, 2020, 2:22pm UTC](https://forum.universal-robots.com/t/is-within-safety-limits-not-working-in-ursim/7404/1 "2020-05-22T14:22:41Z")

</div>

# 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