message: Update soft limits of joint 4 in the URDF.
diff: </collision>
  </link>
  <joint name="${arm_id}_joint4" type="revolute">
  - <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="0.0175"/>
  + <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
  <origin rpy="${pi/2} 0 0" xyz="0.0825 0 0"/>
  <parent link="${arm_id}_link3"/>
  <child link="${arm_id}_link4"/>
  