When you send a discrete jump to `SetAngle(...)`, does the joint actually replicate the discrete jump, or are there some underlying dynamics in between (if so, which)?. I can't really tell from the official doc for [setAngle](http://gazebosim.org/api/dev/classgazebo_1_1physics_1_1Joint.html#a4debd0c6857db7e7461103523129f9e4) if this is the case or not.