Include the wrist clamping distance into the collision model

[urrsk]

Purpose
Include the finger protection distance between the robot tool flange and the lower arm to enable path planners to avoid creating a trajectory that intersects with this and causes the C403A0 protective stop.

Task
Add a geometry on all e-series that adds 28 mm to the radius of the lower arm on the position were the flange can touch the lower arm.