joint limit thresholds
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Description
This issue was imported from [github.gatech.edu](https://github.gatech.edu/borglab/GTDynamics/issues/45).
The original issue was opened by @fd27 on 2020-06-18T19:22:35Z and assigned to @smccormick32
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To be done after parameters PR has merged:
- fix jointLimitFactor
- get rid of threshold parameters
- add as optimizer setting
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