Fix joint limits pertaining to Gen3 Manuals

[leander-dsouza]

• This PR matches the joint limits for Gen3 and Gen3 Lite arms.
• Refer to pg 97-98 for the Gen3 changes and pg 71-72 for the Gen3 lite changes.
• This PR addresses the following issues - #293, #285, and #245.

[leander-dsouza]

Hello @felixmaisonneuve and @alexvannobel, could you review my PR for the mismatch in joint limits?

[felixmaisonneuve]

Looks great!

Merging this PR Thank you for your work

Regards, Felix