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take shoulder lift urdf for example, you can see 'shoulder_lift_joint' limits are:

  <!-- Limits updated from Function's CAD values as of 2009_02_24 (link_data.xls) -->
  <limit lower="-0.5236" upper="1.3963"
         effort="30" velocity="${VELOCITY_LIMIT_SCALE*3.47}" /> <!-- alpha tested velocity and effort limits -->

with safety controller

  <safety_controller k_position="100" k_velocity="10"
                     soft_lower_limit="${-0.5236+0.17}" soft_upper_limit="${1.3963-0.10}" />

so safety controllers will start imposing limits before the hardware limits [-0.5236, 1.3963].

John

take shoulder lift urdf for example, you can see 'shoulder_lift_joint' limits are:

  <!-- Limits updated from Function's CAD values as of 2009_02_24 (link_data.xls) -->
  <limit lower="-0.5236" upper="1.3963"
         effort="30" velocity="${VELOCITY_LIMIT_SCALE*3.47}" /> <!-- alpha tested velocity and effort limits -->

with safety controller

  <safety_controller k_position="100" k_velocity="10"
                     soft_lower_limit="${-0.5236+0.17}" soft_upper_limit="${1.3963-0.10}" />

so safety controllers will start imposing limits before the hardware limits [-0.5236, 1.3963].1.3963]. In this case, a counter force is applied in the range of [-0.3536, 1.2963] by the safety controller.

John