Workspace bounds too conservative

[JoshuaHaustein]

The workspace bounds seem to be too conservative. For instance, the servos are shutdown when the robot reaches the following configuration:

name: [A, B, X, Y, Z]
position: [1.3222773798393699, 1.8888698029010453, 1.3708573214955608, 0.35025446199240723, 0.07218281246152418]

Overall, we may want to consider not doing this hard shutdown in this API and instead let the ROS-level controller deal with this.

This is related to issue #1.

[JoshuaHaustein]

Also, the workspace bounds outside of the shelf are too restrictive and prevent the robot from accessing RC1 and RC4