pub const VELOCITY_BARRIER_GAIN: f64 = 20.0;Expand description
Nm per rad/s of the velocity barrier: the damping a joint meets beyond
ImpedanceOptions::velocity_barrier_fraction
of its limit. Stable at 1 kHz behind the 100 Hz low-pass while the law’s own joint damping
plus this stays under the joint’s effective inertia per millisecond; see The impedance
backend in the book.