Enforce Victor's velocity bounds before sending a joint command

[bsaund]

See:

arm_robots/arm_robots/src/arm_robots/victor.py

Line 145 in a8a4069

velocities = trunc(np.array(velocities), 3) # Kuka does not like sending small but non-zero velocity commands

If arm_robots sends a velocity command greater than the Kuka Controller's allowed command the Kuka controller will cause an "Internal Interpolation error`

[bsaund]

I suspect this is why @PeterMitrano saw:

[bsaund]

I would first check if we are sending velocities outside of the bounds (e.g. logerror) and verify this is the cause

[umicharmlab]

I don't think it's an interpolation issue. For example, I found a particular command with joint 2 velocity above ~0.17 would cause the error. That's suspiciously 10x from the limits you recently set

[PeterMitrano]

increasing the victor.max_velocity_scale_factor to anything above 0.10 breaks it. I would expect it to work at 1.0

[bsaund]

This PR should make the API more obvious: #55