message: Adjust maximum joint velocity in URDF.
diff: <parent link="${arm_id}_link0"/>
  <child link="${arm_id}_link1"/>
  <axis xyz="0 0 1"/>
  - <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925"/>
  + <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
  </joint>
  <link name="${arm_id}_link2">
  <visual>
  <parent link="${arm_id}_link1"/>
  <child link="${arm_id}_link2"/>
  <axis xyz="0 0 1"/>
  - <limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.3925"/>
  + <limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.1750"/>
  </joint>
  <link name="${arm_id}_link3">
  <visual>
  <parent link="${arm_id}_link2"/>
  <child link="${arm_id}_link3"/>
  <axis xyz="0 0 1"/>
  - <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925"/>
  + <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
  </joint>
  <link name="${arm_id}_link4">
  <visual>
  <parent link="${arm_id}_link3"/>
  <child link="${arm_id}_link4"/>
  <axis xyz="0 0 1"/>
  - <limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.3925"/>
  + <limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.1750"/>
  </joint>
  <link name="${arm_id}_link5">
  <visual>
  <parent link="${arm_id}_link4"/>
  <child link="${arm_id}_link5"/>
  <axis xyz="0 0 1"/>
  - <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710"/>
  + <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
  </joint>
  <link name="${arm_id}_link6">
  <visual>
  <parent link="${arm_id}_link5"/>
  <child link="${arm_id}_link6"/>
  <axis xyz="0 0 1"/>
  - <limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.8710"/>
  + <limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.6100"/>
  </joint>
  <link name="${arm_id}_link7">
  <visual>
  <parent link="${arm_id}_link6"/>
  <child link="${arm_id}_link7"/>
  <axis xyz="0 0 1"/>
  - <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710"/>
  + <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
  </joint>
  <link name="${arm_id}_link8"/>
  <joint name="${arm_id}_joint8" type="fixed">
  