Change Configured Torque Thresholds in Simulink

[JBLip]

So in our project, we are trying to control the panda robot to interact with a human touch. The thing is, sometimes we get the following error: On the Desk, I think I found where I can change the torque thresholds, but I don't seem to be able to find how to do this in Simulink. Changing the collision-behavior array (52x1) doesn't seem to make a difference.

Can anyone please help me?

[marcbone]

I dont know what you are exactly using but if you use libfranka you can try to set the collision behavior to 100 for everything before you start the control loop.

    robot.setCollisionBehavior({{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},
                               {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},
                               {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},
                               {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}});

If you are then still hitting the limits you are pushing it too hard, or there is something wrong with your controller. To get a feel how much you can push the robot the robot you can try to run the cartesian_impedance_control example from libfranka.