+----------------------+------------------------+-----------------------+
| Joint Number         | Joint Name            | Limits                |
+======================+========================+=======================+
| 8                    | right_hip_yaw_joint    | -0.43~+0.43 rad        |
+----------------------+------------------------+-----------------------+
| 0                    | right_hip_roll_joint   | -0.43~+0.43 rad        |
+----------------------+------------------------+-----------------------+
| 1                    | right_hip_pitch_joint  | -3.14~+2.53 rad        |
+----------------------+------------------------+-----------------------+
| 2                    | right_knee_joint       | -0.26~+2.05 rad        |
+----------------------+------------------------+-----------------------+
| 11                   | right_ankle_joint      | -0.87~+0.52 rad        |
+----------------------+------------------------+-----------------------+
| 7                    | left_hip_yaw_joint     | -0.43~+0.43 rad        |
+----------------------+------------------------+-----------------------+
| 3                    | left_hip_roll_joint    | -0.43~+0.43 rad        |
+----------------------+------------------------+-----------------------+
| 4                    | left_hip_pitch_joint   | -3.14~+2.53 rad        |
+----------------------+------------------------+-----------------------+
| 5                    | left_knee_joint        | -0.26~+2.05 rad        |
+----------------------+------------------------+-----------------------+
| 10                   | left_ankle_joint       | -0.87~+0.52 rad        |
+----------------------+------------------------+-----------------------+
| 6                    | torso_joint            | -2.35~+2.35 rad        |
+----------------------+------------------------+-----------------------+
| 12                   | right_shoulder_pitch_joint | -2.87~+2.87 rad        |
+----------------------+------------------------+-----------------------+
| 13                   | right_shoulder_roll_joint | -3.11~+0.34 rad        |
+----------------------+------------------------+-----------------------+
| 14                   | right_shoulder_yaw_joint | -4.45~+1.3 rad         |
+----------------------+------------------------+-----------------------+
| 15                   | right_elbow_joint      | -1.25~+2.61 rad        |
+----------------------+------------------------+-----------------------+
| 16                   | left_shoulder_pitch_joint | -2.87~+2.87 rad        |
+----------------------+------------------------+-----------------------+
| 17                   | left_shoulder_roll_joint | -0.34~+3.11 rad        |
+----------------------+------------------------+-----------------------+
| 18                   | left_shoulder_yaw_joint | -1.3~+4.45 rad         |
+----------------------+------------------------+-----------------------+
| 19                   | left_elbow_joint       | -1.25~+2.61 rad        |
+----------------------+------------------------+-----------------------+