Add a workspace wall on the right

[amalnanavati]

Description

Although rare, we have seen one time when the robot made a needlessly large motion when "moving above" for BiteAcquisition, even when a smaller motion existed. That motion wouldn't have been possible with tighter workspace bounds. Hence, this PR adds a tight workspace wall on the right of the robot. See the below RVIZ image (the robot is in the resting configuration).

Testing procedure

• In RVIZ, visually verify that the wall is to the right of the robot and it is close but not too close to the robot's base.
• Run through 5 whole bite, including acquisition, and verify that it works as expected. For one of the bites, mvoe your head to the right.
  • Bite one
  • Bite two
  • Bite with your head moved to the right
  • Bite four
  • Bite five

Future Work

As documented in #143 , we should eventually add action-specific tighter workspace walls, such as a wall above the robot for BiteAcquisition so it doesn't rise higher than it already is.

Before opening a pull request

• [N/A] Format your code using black formatter python3 -m black .
• [N/A] Run your code through pylint and address all warnings/errors. The only warnings that are acceptable to not address is TODOs that should be addressed in a future PR. From the top-level ada_feeding directory, run: pylint --recursive=y --rcfile=.pylintrc ..

Before Merging

• Squash & Merge