Define a range of safe joint angles

[umarkhan135]

Establish a safe range of motion for each joint and enforce constraints in angle calculations

• after researching what a safe range is for each of the joints, implement a constraint system that flags joint angles outside of a sage range
• store these constraints in some way (TBD)

Success Criteria:

• safe joint angle ranges are documented and implemented
• system raises warnings and logs when safe limits are exceeded