URDF Joint Limits vs. Yaml Joint Limits: Unify #53
Description
We are keeping the upper and lower joint limits at two different places: the yaml has them and the urdf has them. The drake franka driver is using the urdf, how about other parts of the full stack?
Dave expects they are actually different, on purpose, in the two places. The URDF should be the actual robot, and the yaml is what we plan to, which should be slightly smaller.
I think we chose to make the driver check be URDF on purpose
Then we plan to something slightly smaller; though that should probably be a factor and we read the actual values from the URDF