message: define joint limits for fr3
diff: -# TODO(bone_ma) define limits
  joint1:
  - max_position: 2.8973
  - min_position: -2.8973
  - max_velocity: 2.1750
  + max_position: 2.3093
  + min_position: -2.3093
  + max_velocity: 2.00
  max_torque: 87
  joint2:
  - max_position: 1.7628
  - min_position: -1.7628
  - max_velocity: 2.1750
  + max_position: 1.5133
  + min_position: -1.5133
  + max_velocity: 1.00
  max_torque: 87
  joint3:
  - max_position: 2.8973
  - min_position: -2.8973
  - max_velocity: 2.1750
  + max_position: 2.4937
  + min_position: -2.4937
  + max_velocity: 1.50
  max_torque: 87
  joint4:
  - max_position: -0.0698
  - min_position: -3.0718
  - max_velocity: 2.1750
  + max_position: -0.4461
  + min_position: -2.7478
  + max_velocity: 1.25
  max_torque: 87
  joint5:
  - max_position: 2.8973
  - min_position: -2.8973
  - max_velocity: 2.6100
  + max_position: 2.4800
  + min_position: -2.4800
  + max_velocity: 3.00
  max_torque: 12
  joint6:
  - max_position: 3.7525
  - min_position: -0.0175
  - max_velocity: 2.6100
  + max_position: 4.2094
  + min_position: 0.8521
  + max_velocity: 1.50
  max_torque: 12
  joint7:
  - max_position: 2.8973
  - min_position: -2.8973
  - max_velocity: 2.6100
  + max_position: 2.6895
  + min_position: -2.6895
  + max_velocity: 3.00
  max_torque: 12
  