When we tried the panel on the real robot, we experienced several issues on some arm's joints triggering delta's greater than 5 degrees.
On other joints like the one on the head and torso that threshold was fine.
Probably we have to think to put different thresholds for the parts, but this is very tricky to generalize on all the possible robots.

One thing that we can do is to make the threshold "smarter" if the safety guard is triggered several consecutive times for a part, the threshold is increased for that part.