fix joint stuck at limit bug

[ufrhaidar]

Fix #1683 and gazebosim/gz-sim#1684

result:

2024-06-26_17-53-51.mp4

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[jslee02]

Could you please take a look at the test failures?

[ufrhaidar]

I don't believe that the changes I've done are the correct thing to do. It just was what got the system out of the velocity limit loop (when position is equal to limit).

Deleting the velocity limit section also fixed the issue, but I don't know what effects it will have on other joint types.

Would this change be acceptable?

[ufrhaidar]

@jslee02 what needs to be done now?

[jslee02]

Apologies for the delayed response. I am currently on vacation and will be sporadic in my availability to provide a thorough analysis of this issue and the patch for this PR.

Regarding this PR, as you mentioned, I am also uncertain about the potential side effects of disabling the velocity limit correction for servo motor types. I wonder if there is a better way to address the issue without completely disabling it.