[Arm control] Define physical limitations of arm movement

[AuroTB]

Define the movement limits of the robot and make a document description about it, for mechanical design to be able to dimension and design the interaction between the storage and cobots.

[Miguelelizondov]

The robotic arms' movement will be limited by a virtual workspace coded into de ROS Module. It will be a virtual sphere, following the formula of a 3D-sphere, x^2 + y^2 + z^2 = r^2. As we found that an extension in both arms of more than 60 centimeters, makes the robot unstable, then the r in the formula will be replaced with the value of 0.6 meters. As we can send to each arm, the coordinates in meters, we can just put these coordinates into the formula and check if the radius that it gives us, is less than 0.6 meters, if it is bigger, then we should send an error that it's passing the limits of our virtual workspace.

References: https://www.researchgate.net/publication/312109406_Workspace_analysis_for_planning_human-robot_interaction_tasks https://www.researchgate.net/publication/224296369_Capturing_Robot_Workspace_Structure_Representing_Robot_Capabilities