Add PD controller for joint-space impedance

[urfeex]

Adds a joint space impedance controller to the driver.

[codecov[bot]]

Codecov Report

:x: Patch coverage is 61.22449% with 38 lines in your changes missing coverage. Please review. :white_check_mark: Project coverage is 42.17%. Comparing base (276120d) to head (11bd2e9).

Files with missing lines	Patch %	Lines
src/ur/ur_driver.cpp	27.27%	23 Missing and 1 partial :warning:
...ary/control/torque_command_controller_parameters.h	53.33%	14 Missing :warning:

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #400      +/-   ##
==========================================
- Coverage   42.83%   42.17%   -0.67%     
==========================================
  Files          99      100       +1     
  Lines        8626     8740     +114     
  Branches     1170     1181      +11     
==========================================
- Hits         3695     3686       -9     
- Misses       4652     4776     +124     
+ Partials      279      278       -1     

Flag	Coverage Δ
start_ursim	81.11% <ø> (-3.45%)	:arrow_down:
ur20-latest	40.93% <61.22%> (+0.21%)	:arrow_up:
ur5-3.14.3	?
ur5e-10.7.0	?
ur5e-5.9.4	?

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