feat: configure FRI position smoothing

src/iiwa_utils/iiwa_utils/setting_loader.py

@@ -1,3 +1,4 @@
+import math
 import os
 from dataclasses import dataclass, fields, is_dataclass
 from typing import Any, Dict, List, Optional, Type, TypeVar
@@ -15,6 +16,7 @@ class RobotCfg:
     port: int
     description: str
     fri_cycle_ms: int
+    joint_position_tau: float
 
 
 @dataclass(frozen=True)
@@ -282,12 +284,16 @@ def build_settings(settings_path: str, check_files: bool = True) -> Settings:
 
     # robot
     robot_raw = require(raw, "robot")
+    joint_position_tau = float(robot_raw.get("joint_position_tau", 0.04))
+    if not math.isfinite(joint_position_tau) or joint_position_tau < 0.0:
+        raise ValueError("robot.joint_position_tau must be a finite value >= 0")
     robot = RobotCfg(
         name=str(require(robot_raw, "name")),
         ip=str(require(robot_raw, "ip")),
         port=int(require(robot_raw, "port")),
         description=resolve_path(str(require(robot_raw, "description")), settings_dir),
         fri_cycle_ms=int(robot_raw.get("fri_cycle_ms", 5)),
+        joint_position_tau=joint_position_tau,
     )
 
     # digital_twin