53 absolute arm positioning command

[wubbasauce]

Added inverse kinematics to the robot arm, waist, and shoulder.

Please include a summary of the changes -- include relevant motivation and context.

Type of change

• [ ] New feature (non-breaking change which adds functionality)
• [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
• [ ] Bugfix (non-breaking change which fixes an issue, add DEF # above in description)
• [ ] Environment change (changes to developer environment or CI configuration)
• [ ] Documentation Update (if none of the other choices apply)

How Has This Been Tested?

Please describe the tests that you ran to verify your changes. Please also list any relevant details for your test configuration. Identify any new potential hazards or risks introduced.

Author Checklist:

• [ ] I have performed a self-review of my code
• [ ] I have added 1-2 reviewers
• [ ] I have @mentioned relevant non-reviewers as an FYI
• [ ] I have included a detailed description of my changes and their motivations

[amoscao]

@wubbasauce build is also failing, we can look at this branch together in the shop

[wubbasauce]

Fixed the build fail and changed the tolerance for the arm extension to 5 mm.