pub fn max_joint_velocity(version: FciVersion) -> [f64; 7]Expand description
The joint velocity limits, rad/s, of the arm speaking version away from its joint position
limits: the FER’s MAX_JOINT_VELOCITY or the FR3’s caps. The FR3’s limit narrows toward the
position limits, which the impedance backend follows; the FER’s is flat. Its cap and barrier
(ImpedanceOptions::joint_velocity_fraction, ImpedanceOptions::velocity_barrier_fraction)
and JointTargetControlOptions::scaled_limits are fractions of these.