Add PD controller for joint-space impedance#400

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urfeex:pd_controller

Commits on Nov 4, 2025

Added two new control modes PD controller in joint space and PD contr… (#336)

urmahp
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urfeex
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Added commands to set pd controller gains and maximum joint torques (#342)

urmahp
and
urfeex
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Add torque_command statement only on supported software versions (#348)
urfeex
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