Only apply limits if the joint is not a limitless joint

source/devices/ethercat/sensor_actor_unit/armar7de/joint_controller/Velocity.cpp

@@ -95,14 +95,14 @@ namespace devices::ethercat::sensor_actor_unit::armar7de::joint_controller
             bool const inAnyLimits = inSoftLimits or inHardLimits;
 
             // If we reached any limit, we set the velocity to zero.
-            if (inAnyLimits)
+            if (inAnyLimits and not limitless)
             {
                 newVel = 0;
             }
 
             // If the target is in the soft limits, but not yet in the hard limits, we set a low
             // deceleration for a slow braking behavior.
-            if (inSoftLimits and not inHardLimits)
+            if (inSoftLimits and not inHardLimits and not limitless)
             {
                 dataPtr->setTargetDeceleration(25'000);
             }