Preserve Galbot solver iterations at 128/4 - #31
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Signed-off-by: ruziniuuuuu <ruziniuuuuu@gmail.com>
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Global PhysX limits currently cap Galbot's requested 128/4 solver iterations at 32/1.
Apply 128/4 limits after global defaults for Galbot joint-position and IK tasks. Other robots keep their existing defaults.
Validation: 4 configuration regression tests and Ruff passed.