message: FIX: Account for finger joints in assert
  With a panda hand, the joints list actually holds 9 elements.
diff: @@ -450,8 +450,8 @@ void FrankaHWSim::updateRobotStateDynamics() {
  }
  void FrankaHWSim::updateRobotState(ros::Time time) {
  - // This is ensured, because a FrankaStateInterface checks exactly for seven joints in the URDF
  - assert(this->joints_.size() == 7);
  + // This is ensured, because a FrankaStateInterface checks for at least seven joints in the URDF
  + assert(this->joints_.size() >= 7);
  for (int i = 0; i < 7; i++) {
  std::string name = this->arm_id_ + "_joint" + std::to_string(i + 1);
  