WIP: fix for VelocityControllerWithAccelerationAndPositionBounds
@mirkowaechter Please check if everything is correct. The typical behaviour is that the controller will decelerate with max_dec once it recognises that the soft-limit will be reached. In most cases the joint velocity will become 0 a little bit behind the soft limit and then the joint will move beack to the exact soft limit.
Edited by Stefan Reither