Added commands to set pd controller gains and maximum joint torques

[urmahp]

No description provided.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Please upload report for BASE (torque_control@9cecbff). Learn more about missing BASE report.

Additional details and impacted files

@@                Coverage Diff                @@
##             torque_control     #342   +/-   ##
=================================================
  Coverage                  ?   81.73%           
=================================================
  Files                     ?        1           
  Lines                     ?      230           
  Branches                  ?        0           
=================================================
  Hits                      ?      188           
  Misses                    ?       42           
  Partials                  ?        0           

Flag	Coverage Δ
start_ursim	81.73% <ø> (?)

Flags with carried forward coverage won't be shown. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[urfeex]

I only have minor documentation suggestions. Feel free to accept or ignore them.

[urfeex]

We could think about moving the enum to a public namespace so that can be reused here. or is there a specific reason why enum class ScriptCommand is a private member of ScriptCommandInterface?

That's probably not for this PR, however.

[urmahp]

No I think its because it is only intended to be used when sending commands to the external control script. But would make sense to make them available for the test cases. But yes should probably be done in separate PR.