From 46e173e0bf0f139a949071169974830260f83f9a Mon Sep 17 00:00:00 2001
From: rdiankov <devnull@localhost>
Date: Tue, 12 Jul 2011 21:01:25 +0900
Subject: [PATCH] saving both soft and hard limits in collada

---
 collada_urdf/src/collada_urdf.cpp | 10 +---------
 1 file changed, 1 insertion(+), 9 deletions(-)

diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp
index 2f7af06..f4d352c 100644
--- a/collada_urdf/src/collada_urdf.cpp
+++ b/collada_urdf/src/collada_urdf.cpp
@@ -563,10 +563,6 @@ protected:
                 flower = it->pjoint->limits->lower;
                 fupper = it->pjoint->limits->upper;
             }
-            if( !!it->pjoint->safety ) {
-                flower = it->pjoint->safety->soft_lower_limit;
-                fupper = it->pjoint->safety->soft_upper_limit;
-            }
             if( flower > 0 || fupper < 0 ) {
                 value = 0.5*(flower+fupper);
             }
@@ -626,11 +622,7 @@ protected:
             pdomjoint->setSid(jointid.c_str() );
             pdomjoint->setName(pjoint->name.c_str());
             domAxis_constraintRef axis;
-            if( !!pjoint->safety ) {
-                lmin=pjoint->safety->soft_lower_limit;
-                lmax=pjoint->safety->soft_upper_limit;
-            }
-            else if( !!pjoint->limits ) {
+            if( !!pjoint->limits ) {
                 lmin=pjoint->limits->lower;
                 lmax=pjoint->limits->upper;
             }