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Hah, solved my own problem, maybe. I think the problem, if it is one, is just that the wrist_flex_link joint limits are perhaps too conservative and don't encompass the extremes that the wrist can actually take on (which happen to come up often because the rest positions of the wrist tend to the extremes due to gravity if you're disabling the runstops and repositioning the arms/wrists like I am).

Hah, solved my own problem, maybe. I think the problem. The problem, if it is one, is just that the wrist_flex_link joint limits are perhaps too conservative and don't encompass the extremes that the wrist can actually take on (which happen to come up often because the rest positions of the wrist tend to the extremes due to gravity if you're disabling the runstops and repositioning the arms/wrists like I am).