[C++][Minor] Ajust joint limits algo and remove useless warnings
[C++][Minor] Ajust joint limits algo and remove useless warnings

fvalenza/pinocchio,fvalenza/pinocchio,aelkhour/pinocchio,aelkhour/pinocchio,fvalenza/pinocchio,aelkhour/pinocchio,fvalenza/pinocchio,aelkhour/pinocchio