I'm trying to do some HRC with my arm and the normal impedance mode locks me out of the arm whenever a joint's axis limit is reached, which doesn't work for what I need.
Is there a way I can still use the ROSSmartServo application (to read joint, pose values and overall be the center of my interface) while obtaining some form of a compliance mode that doesn't lock me out when I reach the joint limits?
Is the sunrise workbench handguiding mode compatible with the above application?
Is there a way I can prevent the arm from locking me out when I activate impedance mode and reach the joint limit?
thanks