Enforce Victor's velocity bounds before sending a joint command about arm_robots HOT 5 OPEN

I suspect this is why @PeterMitrano saw:

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

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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

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

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This PR should make the API more obvious: #55

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