another thing: at this year's AUTOMATICA fair in Munich, German safety specialist PILZ showed a [new robot](
https://www.pilz.com/en-INT/company/press/messages/articles/195173) arm that to put it short & simple - applied these safe levels of the control system.
--> see also their announcement here on Discourse (
https://discourse.ros.org/t/announcing-official-ros-support-for-the-pilz-light-weight-arm/5520)
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