message: Add velocity and acceleration limits considering jerk limits in the worst case
diff: # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
  joint_limits:
  panda_joint1:
  - has_velocity_limits: false
  - max_velocity: 0
  - has_acceleration_limits: false
  - max_acceleration: 0
  + has_velocity_limits: true
  + max_velocity: 2.1750
  + has_acceleration_limits: true
  + max_acceleration: 3.75
  panda_joint2:
  - has_velocity_limits: false
  - max_velocity: 0
  - has_acceleration_limits: false
  - max_acceleration: 0
  + has_velocity_limits: true
  + max_velocity: 2.1750
  + has_acceleration_limits: true
  + max_acceleration: 1.875
  panda_joint3:
  - has_velocity_limits: false
  - max_velocity: 0
  - has_acceleration_limits: false
  - max_acceleration: 0
  + has_velocity_limits: true
  + max_velocity: 2.1750
  + has_acceleration_limits: true
  + max_acceleration: 2.5
  panda_joint4:
  - has_velocity_limits: false
  - max_velocity: 0
  - has_acceleration_limits: false
  - max_acceleration: 0
  + has_velocity_limits: true
  + max_velocity: 2.1750
  + has_acceleration_limits: true
  + max_acceleration: 3.125
  panda_joint5:
  - has_velocity_limits: false
  - max_velocity: 0
  - has_acceleration_limits: false
  - max_acceleration: 0
  + has_velocity_limits: true
  + max_velocity: 2.6100
  + has_acceleration_limits: true
  + max_acceleration: 3.75
  panda_joint6:
  - has_velocity_limits: false
  - max_velocity: 0
  - has_acceleration_limits: false
  - max_acceleration: 0
  + has_velocity_limits: true
  + max_velocity: 2.6100
  + has_acceleration_limits: true
  + max_acceleration: 5
  panda_joint7:
  - has_velocity_limits: false
  - max_velocity: 0
  - has_acceleration_limits: false
  - max_acceleration: 0
  + has_velocity_limits: true
  + max_velocity: 2.6100
  + has_acceleration_limits: true
  + max_acceleration: 5
  panda_finger_joint1:
  has_velocity_limits: true
  max_velocity: 0.1
  