The issue I am seeing is in version 3.3.4 but looking at the documentation for 3.4 it looks like it’s probably still applicable.

I have configured a PXD6Joint which is locked in all axes except twist and is limited in the twist axis. I would like my joint to be able to twist from 0.8 radians to 3.6 radians. According to the documentation for PxJointAngularLimitPair my limits can go all the way from -2pi to 2pi but my lower must be less than my upper so I set lower=0.8 and upper=3.6. This works perfectly at the lower limit but as I rotate towards the upper limit my system explodes when my twist angle hits exactly pi. I haven’t totally stripped down my system to the simplest possible case but I believe I’ve removed all joints connecting the two actors except my twist joint.

Next I observe that 0.8 radians is the same angle as -5.5 radians and 3.6 radians is the same as -2.7 radians so I change my limits to lower=-5.5 and upper=-2.7. This still satisfies the -2pi to 2pi range and lower is still less than upper. As far as I can see this should give the exact same behavior as before but this setup explodes immediately.

My question then are:

- Is there a difference in expected behavior when setting up a twist joint with lower=L and upper=U vs lower=L-2pi and upper=U-2pi provided L, U, L-2pi and U-pi are all in the range [-2pi, 2pi]?
- Are there further undocumented requirements on the values provided to PxJointAngularLimitPair?
- Is my joint expected to go crazy in this way when transitioning twist from pi to -pi?