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I don't know how you're storing or recalling your presets, but you can put a Rate Limiter block between it and your joint and limit how quickly your joint reference changes. I made a short clip for you - here I'm using a square wave set to 45*(pi/180) as the amplitude, with a frequency of 0.25 Hz. The net result is 90 degree motion (-45 to +45 degrees) and ...


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