Revolute joints ignore limits

[Teslatic]

Follow up isse from #2831 (The changes suggested there have been applied so far)

Problem description
The tines of the grapple should be controllable in a fashion that they stop at their respective limits, specified in the according URDF file.

Expected behaviour
Tines close and stop at their limit. Likewise, the tines should open and stop when they are opened.

Observed behaviour
Tines rotate beyond their limits and continue rotation indefinitely.

How to recreate the behaviour
python main_bullet_issue.py

Used versions
Python: 3.7.7
Pybullet: 2.7.8

Attached are the used files and a demo video.
limit_issue.zip

Any help is appreciated.

[1234shel]

Did you find a fix to this? I am also experiencing cases where the limits are violated.