i made depalletizing like in this video : https://www.youtube.com/watch?v=BbIYQihJ5wo&t=108s
and all its ok until robot grasping 9th yellow big block (8th is OK - it is first block which robot grasp on video). While grasping the 9th block robot change configuration - Config1 (it sis OK) -> Config3 -> Config7 -> Config3. As a result, the robot achieves an unusual (impracticable) axis position. When I change manually to Config1 all is ok.
In which simple way can I solvet this problem? In wchich way can I block Configuration of robot (for example set permanently Config1) ?