To control the robot accurately and avoid damage duue to harsh control, please keep in mind the following joint limits.
| Name | Unit | Value | Description
| --- | --- | -- | ---
| L0 | rad/deg | -/+ 50 degrees | actuated
| L1 | rad/deg | -/+ ? degrees | actuated
| L2 | normalized units | 0 to 1 | controls L2 and L3 joint in a coupled way. 0 means completely extended, 1 means fully flexed (determined by calibration process)