plan runner safeties being triggered

[manuelli]

Just ran into some plan runner safeties. I think this is fixed in a current PR but putting here as documentation in case we run into the issue again.

0
0
0
set current plan to finished
reset plan_local pointer
plan_local == nullptr, holding current position...

Starting plan No. 135
Commanded joint position is too jerky, discarding plan...
dq_cmd limit: 0.0261799
Commanded dq_cmd[6]: -0.0872665
detected unsafe command

position_command:
0.759646
  1.0874
-1.09927
-1.50354
0.918457
 1.03449
 2.96706

torque_command:
0
0
0
0
0
0
0
sending previous position command instead
setting torque command to zero
safe commands

position_command:
0.759646
  1.0874
-1.09927
-1.50354
0.918457
 1.03449
 3.05433

torque_command:
0
0
0
0
0
0
0
set current plan to finished
reset plan_local pointer
[plan_runner-1] killing on exit
Killed