Joint velocity violation when at joint limits

During teleoperation, joint positions can easily approach their limits, and continuing from these positions can lead to errors such as "libfranka: Move command aborted: motion aborted by reflex! ['joint_velocity_violation']."
This occurs because maximum joint velocities are not just fixed values, they depend on the joint positions, see here.
After scaling down the velocity commands with the fixed acceleration and jerk limits, it would be nice to further adjust the velocity commands based on the current joint positions.