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I've seen instability that I suspect to be due to bad chopping of joint commands and possibly states over udp, so this patch was created to make sure the udp message is not fragmeneted. If possible, can you try running from the udp_tweak branch and see if problem persists?

There is a separate issue involving contact, and bad treatment of fdir1 params that leads to NaN's too, but less likely to be your problem here.