Update iiwa_controller configuration for improved joint control and velocity clamping

2026-05-18 03:34:59 +03:00
parent 86cf252a87
commit efaec9b442
5 changed files with 45 additions and 15 deletions
@@ -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