diff --git a/src/iiwa_config/config/moveit/iiwa_controller.yaml b/src/iiwa_config/config/moveit/iiwa_controller.yaml
index abeecde..21903c8 100644
--- a/src/iiwa_config/config/moveit/iiwa_controller.yaml
+++ b/src/iiwa_config/config/moveit/iiwa_controller.yaml
@@ -39,7 +39,7 @@ iiwa_arm_controller:
       - position
       - velocity
 
-    interpolate_from_desired_state: false
+    interpolate_from_desired_state: true
     allow_partial_joints_goal: false
     allow_nonzero_velocity_at_trajectory_end: false
 
diff --git a/src/iiwa_config/config/setting.yaml b/src/iiwa_config/config/setting.yaml
index bbd36c0..4c210e1 100644
--- a/src/iiwa_config/config/setting.yaml
+++ b/src/iiwa_config/config/setting.yaml
@@ -4,7 +4,7 @@ robot:
   port: 30200
   command_mode: "position" # torque, position
   fri_cycle_ms: 5          # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
-  joint_position_tau: 0.04  # постоянная времени фильтра позиций [с]: больше → плавнее, медленнее
+  joint_position_tau: 0.15   # EMA фильтр позиций: 0 = выкл (без лага → без overshoot при торможении)
   active_controller: "jtc"  # "jtc" = MoveIt/JointTrajectoryController, "forward" = ForwardCommandController
   description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro
 
diff --git a/src/iiwa_controller/src/IIWAHardwareInterface.cpp b/src/iiwa_controller/src/IIWAHardwareInterface.cpp
index 2fb006c..97d76d6 100644
--- a/src/iiwa_controller/src/IIWAHardwareInterface.cpp
+++ b/src/iiwa_controller/src/IIWAHardwareInterface.cpp
@@ -1,6 +1,7 @@
 #include "iiwa_controller/IIWAHardwareInterface.hpp"
 
 #include <chrono>
+#include <cmath>
 #include <thread>
 
 #include "hardware_interface/hardware_info.hpp"
@@ -238,9 +239,17 @@ hardware_interface::return_type IIWAHardwareInterface::read(
     const double dt =
       (static_cast<double>(snap.time_stamp_sec)       - static_cast<double>(last_ts_sec_)) +
       (static_cast<double>(snap.time_stamp_nano_sec)  - static_cast<double>(last_ts_nsec_)) * 1e-9;
+
+    // iiwa7 physical velocity limits [rad/s], used to clamp impossible spikes
+    static constexpr std::array<double, N_JOINTS> kMaxVel =
+      {1.71, 1.71, 1.75, 2.27, 2.44, 3.14, 3.14};
+    static constexpr double kVelDeadband = 1e-4;
+
     if (dt > 0.0) {
       for (size_t i = 0; i < N_JOINTS; ++i) {
-        vel_filtered_[i] = (snap.measured_pos[i] - prev_pos_[i]) / dt;
+        const double raw = (snap.measured_pos[i] - prev_pos_[i]) / dt;
+        const double clamped = std::clamp(raw, -kMaxVel[i], kMaxVel[i]);
+        vel_filtered_[i] = (std::abs(clamped) < kVelDeadband) ? 0.0 : clamped;
       }
     }
     for (size_t i = 0; i < N_JOINTS; ++i) {
diff --git a/src/iiwa_controller_v2/src/system_interface.cpp b/src/iiwa_controller_v2/src/system_interface.cpp
index 0773761..daf9716 100644
--- a/src/iiwa_controller_v2/src/system_interface.cpp
+++ b/src/iiwa_controller_v2/src/system_interface.cpp
@@ -2,6 +2,7 @@
 
 #include <chrono>
 #include <cmath>
+#include <cstdint>
 #include <thread>
 
 #include "hardware_interface/types/hardware_component_interface_params.hpp"
@@ -375,10 +376,23 @@ void SystemInterface::compute_velocity_(const IIWAStateSnapshot & snap)
     return;
   }
 
-  const double dt = (ts_sec + ts_nsec * 1e-9) - (last_ts_sec_ + last_ts_nsec_ * 1e-9);
+  // Use integer subtraction to avoid floating-point precision loss with large Unix timestamps
+  const double dt =
+    static_cast<double>(static_cast<int64_t>(snap.time_stamp_sec) -
+                        static_cast<int64_t>(static_cast<unsigned int>(last_ts_sec_))) +
+    (ts_nsec - last_ts_nsec_) * 1e-9;
+
+  // iiwa7 max joint velocity [rad/s], used to clamp impossible spikes
+  static constexpr std::array<double, FRIClient::N_JOINTS> kMaxVel =
+    {1.71, 1.71, 1.75, 2.27, 2.44, 3.14, 3.14};
+  static constexpr double kVelDeadband = 1e-4;  // zero out near-stop residuals
+
   if (dt > 0.0) {
     for (std::size_t i = 0; i < FRIClient::N_JOINTS; ++i) {
-      velocity_[i] = (snap.measured_pos[i] - last_pos_[i]) / dt;
+      const double raw = (snap.measured_pos[i] - last_pos_[i]) / dt;
+      // Clamp to physical limit and apply zero deadband
+      const double clamped = std::clamp(raw, -kMaxVel[i], kMaxVel[i]);
+      velocity_[i] = (std::abs(clamped) < kVelDeadband) ? 0.0 : clamped;
     }
   }
 
diff --git a/src/iiwa_description/urdf/iiwa7.urdf.xacro b/src/iiwa_description/urdf/iiwa7.urdf.xacro
index f5a9175..7edf3aa 100644
--- a/src/iiwa_description/urdf/iiwa7.urdf.xacro
+++ b/src/iiwa_description/urdf/iiwa7.urdf.xacro
@@ -9,8 +9,8 @@
     <xacro:arg name="command_mode" default="position"/>
     <xacro:arg name="joint_position_tau" default="0.04"/>
     <!-- iiwa_controller_v2: новые параметры. Убери эти строки при откате на v1 -->
-    <xacro:arg name="open_loop" default="true"/>
-    <xacro:arg name="rt_prio" default="80"/>
+    <!-- <xacro:arg name="open_loop" default="true"/>
+    <xacro:arg name="rt_prio" default="80"/> -->
 
     <xacro:property name="initial_positions"
                     value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
@@ -152,15 +152,15 @@
                      ════════════════════════════════════════════════════════ -->
 
                 <!-- ── v2 (активен) ──────────────────────────────────────── -->
-                <plugin>iiwa_controller_v2/SystemInterface</plugin>
-                <param name="robot_ip">$(arg robot_ip)</param>
-                <param name="fri_port">$(arg fri_port)</param>
-                <param name="simulate">false</param>
-                <param name="command_mode">$(arg command_mode)</param>
-                <param name="joint_position_tau">$(arg joint_position_tau)</param>
+                <!-- <plugin>iiwa_controller_v2/SystemInterface</plugin> -->
+                <!-- <param name="robot_ip">$(arg robot_ip)</param> -->
+                <!-- <param name="fri_port">$(arg fri_port)</param> -->
+                <!-- <param name="simulate">false</param> -->
+                <!-- <param name="command_mode">$(arg command_mode)</param> -->
+                <!-- <param name="joint_position_tau">$(arg joint_position_tau)</param> -->
                 <!-- новые параметры v2: -->
-                <param name="open_loop">$(arg open_loop)</param>
-                <param name="rt_prio">$(arg rt_prio)</param>
+                <!-- <param name="open_loop">$(arg open_loop)</param> -->
+                <!-- <param name="rt_prio">$(arg rt_prio)</param> -->
 
                 <!-- ── v1 (закомментировано) ─────────────────────────────
                 <plugin>iiwa_controller/IIWAHardwareInterface</plugin>
@@ -170,6 +170,13 @@
                 <param name="command_mode">$(arg command_mode)</param>
                 <param name="joint_position_tau">$(arg joint_position_tau)</param>
                 ─────────────────────────────────────────────────────────── -->
+            
+                <plugin>iiwa_controller/IIWAHardwareInterface</plugin>
+                <param name="robot_ip">$(arg robot_ip)</param>
+                <param name="fri_port">$(arg fri_port)</param>
+                <param name="simulate">false</param>
+                <param name="command_mode">$(arg command_mode)</param>
+                <param name="joint_position_tau">$(arg joint_position_tau)</param>
             </hardware>
 
             <joint name="joint1">