I'm finishing up a gazebo plugin for servo control of joints. I've noticed that whenever a joint goes past the lower/upper limits defined in the urdf, that all joints in my model fly off to Neverland and Gazebo starts reporting NaNs for velcoities.
This is non-idel abviously, but it's not even clear how to stop this other than putting rather large padding around the limits. In the case where the limit is close to, the natural variance of the ODE system can cause the joints to move around in the noise and even move the joint as much as 0.001 radians from it's last position, so any padding has to be at least 0.01 radians that I'm noticing now.
Any ideas on how to get Gazebo to not freak out when a joint goes (barely) over the limits? I generally drive my real robot to physical limits on certain kinds of joints, and I'd like to simulate this in Gazebo.
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