[UFE] Joint Stop Detection

Description

Detect when we are very close to or at a joint stop, so we can invalidate the user force estimate. The reason the data is no longer valid is that the algorithm relies on the sum total of forces on each link to be either from the robot motors, inertial or other forces from the passive dynamics of the mechanism, or the user. The DisturbanceObserver has no way of knowing/modeling the force generated from a joint stop as related to the robot position, so it cannot provide a valid user force estimate while in contact with joint stops.

NOTE: Our systems have the incorrect value for joint 1 positive limit in the EEPROM at CoAP route /default/joint_limits, as it was not updated after a hardware change. You will need to update yours. Using burt-util, I changed the positive joint 1 limit for both left and right handedness to be 0.17 rad instead of 0.56 rad. Also, I created this issue to address some of the redundancy in our joint limits in the future #250.

What to focus on

• Use DisturbanceObserverTest in Sandbox to see if joint stops are correctly identified in real time.
• Is the chosen parameter of 0.05 rad for the "buffer" zone reasonable.