Hi,
I would like to be able to add joint position, velocity and torque safety limits to the IIWA. For a bit of context: I am running the robot in AUT mode
whilst sending torques via the FRI. I would like to have safety values set up in order to not blow a fuse when I do something bad, but rather have the robot
just stop.
When I go into the safety configuration option on Sunrise I am unable to add more than 3 axes to the workspace limit. This is because
I only have only three instances for some reason which act as group. I have attached a few pictures of what I did to add axis limits.
Also I seem to have have the option to add joint velocities.
Any help is welcome