pub fn compute_upper_limits_joint_velocity(q: &[f64; 7]) -> [f64; 7]Expand description
Computes the maximum joint velocity based on joint position.
Port of the (deprecated) franka::computeUpperLimitsJointVelocity, which hardcodes the FR3
parameters. Prefer crate::joint_velocity_limits::JointVelocityLimitsConfig::upper_limits,
which reads the same parameters from the robot’s URDF.
The hardcoded offsets and position limits are not those of Franka’s FR3 specifications (e.g. joint 1: 0.30 and 2.7501 against 0.6599 and 2.9007); the port keeps libfranka’s.