diff --git a/src/iiwa_config/config/moveit/iiwa_controller.yaml b/src/iiwa_config/config/moveit/iiwa_controller.yaml
index 1b34a4f..2a1e467 100644
--- a/src/iiwa_config/config/moveit/iiwa_controller.yaml
+++ b/src/iiwa_config/config/moveit/iiwa_controller.yaml
@@ -48,16 +48,16 @@ iiwa_arm_controller:
     state_publish_rate: 50.0   # половина от update_rate, как в референсе lbr_fri_ros2_stack
     action_monitor_rate: 20.0
 
-    constraints:
-      stopped_velocity_tolerance: 0.01  # [рад/с] — допуск скорости в конечной точке
-      goal_time: 2.0                    # [с] — допуск на время достижения цели
-      joint1: { trajectory: 0.1, goal: 0.01 }
-      joint2: { trajectory: 0.1, goal: 0.01 }
-      joint3: { trajectory: 0.1, goal: 0.01 }
-      joint4: { trajectory: 0.1, goal: 0.01 }
-      joint5: { trajectory: 0.1, goal: 0.01 }
-      joint6: { trajectory: 0.1, goal: 0.01 }
-      joint7: { trajectory: 0.1, goal: 0.01 }
+    # constraints:
+    #   stopped_velocity_tolerance: 0.01  # [рад/с] — допуск скорости в конечной точке
+    #   goal_time: 2.0                    # [с] — допуск на время достижения цели
+    #   joint1: { trajectory: 0.1, goal: 0.01 }
+    #   joint2: { trajectory: 0.1, goal: 0.01 }
+    #   joint3: { trajectory: 0.1, goal: 0.01 }
+    #   joint4: { trajectory: 0.1, goal: 0.01 }
+    #   joint5: { trajectory: 0.1, goal: 0.01 }
+    #   joint6: { trajectory: 0.1, goal: 0.01 }
+    #   joint7: { trajectory: 0.1, goal: 0.01 }
 
 forward_position_controller:
   ros__parameters: