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Have you checked your STAGE velocity limits? I had serious problems until finding out it was the culprit.

The ref page is here.

Basically you should add this lines to your world file and change those limits:

# [ xmin xmax ymin ymax zmin zmax amin amax ]
velocity_bounds [-1 1 -1 1 -1 1 -90 90 ]
acceleration_bounds [-1 1 -1 1 -1 1 -90 90]

Have you checked your STAGE velocity limits? I had serious problems until finding out it was the culprit.

The ref page is here.

Basically you should add this lines to your world file and change those limits:

# [ xmin xmax ymin ymax zmin zmax amin amax ]
velocity_bounds [-1 1 -1 1 -1 1 -90 90 ]
acceleration_bounds [-1 1 -1 1 -1 1 -90 90]