``` # # # Validation for a RobotMoveCommand # (taken from urdf) # joint_limits: j1: min: -1.5708 max: 1.5708 j2: min: -1.5708 max: 0.5236 j3: min: -0.2967 max: 1.5710 j4: min: -2.0944 max: 2.0944 j5: min: -1.7453 max: 1.7453 j6: min: -2.5310 max: 2.5310 position_limits: x: min: 0.00 max: 0.461 y: min: -0.461 max: 0.461 z: min: 0.00 max: 0.711 rpy_limits: roll: min: -3.14159 max: 3.14159 pitch: min: -3.14159 max: 3.14159 yaw: min: -3.14159 max: 3.14159 tool_limits: gripper_open_speed: min: 0 max: 1023 gripper_close_speed: min: 0 max: 1023 ```