Resolve "Impedance controller implementation real"

Closes #9 (closed).

Impedance controller working on main robot, but still some work to tune observers which will be tracked in #8.

added 102 commits

• 202ae324...ec1af206 - 101 commits from branch main
• c8fd7d9a - merged main into 9-

Compare with previous version

merged

mentioned in commit 5c87d398

mentioned in commit f63141a5