[MoveIt configs] use joint limits from description #668
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As risen in #657 it would make sense to re-use the joint-limits from the description also in the moveit configs. This PR implements this.
We can either first merge #657 and then adapt this to include the ur20, as well, or we can first merge this and then change #657 accordingly. I would vote for first merging #657 to get @urrsk out of the loop. Hence, I'll draft this for now.