message: Update axis 4 hard limit in URDF.
diff: <parent link="${arm_id}_link3"/>
  <child link="${arm_id}_link4"/>
  <axis xyz="0 0 1"/>
  - <limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.1750"/>
  + <limit effort="87" lower="-3.1416" upper="0.0" velocity="2.1750"/>
  </joint>
  <link name="${arm_id}_link5">
  <visual>
  