Constant POSITION_BARRIER_STIFFNESS 

pub const POSITION_BARRIER_STIFFNESS: f64 = 12.5;

1/rad: the position barrier’s stiffness as a multiple of the joint’s torque clamp, K_i = POSITION_BARRIER_STIFFNESS × torque_limits_i: 1075 Nm/rad at the 86 Nm clamp, 144 at 11.5.