more work on UrdfEditor.py

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -4633,6 +4633,9 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
 									}
 
 									motor->setVelocityTarget(desiredVelocity,kd);
+									//todo: instead of clamping, combine the motor and limit
+									//and combine handling of limit force and motor force.
+									
 									//clamp position
 									if (mb->getLink(link).m_jointLowerLimit <= mb->getLink(link).m_jointUpperLimit)
 									{