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Hi Kai,

With regards to the bouncing problem when you hit the joint limit, you can try tweaking the fudgeFactor values for your joint:

<gazebo reference="r_upper_arm_roll_joint">
  <fudgeFactor value="0.5"/>
</gazebo>

You can take a look at the ode manual and search for terms dParamFudgeFactor to see exactly what it does. Quoting below:

• The current joint stop/motor implementation has a small problem: when the joint is at one stop and the motor is set to move it away from the stop, too much force may be applied for one time step, causing a ``jumping'' motion. This fudge factor is used to scale this excess force. It should have a value between zero and one (the default value). If the jumping motion is too visible in a joint, the value can be reduced. Making this value too small can prevent the motor from being able to move the joint away from a stop.