[YarpOpenraveControlboard] joint limit treatment

[jgvictores]

[YarpOpenraveControlboard] joint limit treatment, as commented f2f @rsantos88 @PeterBowman

[PeterBowman]

Spotted while working with amorSim: start from initial position (gripper in extended pose), try to pan in -x, first rotational joint affects the orientation of the TCP (with lots of OR warnings).

@jgvictores says maybe related: roboticslab-uc3m/amor-openrave-models#1 and roboticslab-uc3m/kinematics-dynamics#161 (comment)

[jgvictores]

Note: Warnings are slightly less cryptic applying patches documented at http://robots.uc3m.es/gitbook-installation-guides/install-openrave.html#source-code-hacks (perma).

[jgvictores]

This turns out to be similar to #82, where an issue is we can activate exceptions as in bf9e962, but would need to implement out own stepSimulation to be able to catch and act.

Note that in the case of joint limits, while warning (or error with exceptions) messages seem out of range, in the visualization we can see the robot stops and, moreover, encoders report being at limit position (not way passed). Warning/error messages are confusing because they seem way past limits, but in fact it turns out (or at least seems) that they are simply complaining about far-off command.