fix: align iiwa controller with FRI lifecycle and use JTC without EMA

src/iiwa_utils/iiwa_utils/setting_loader.py

@@ -15,8 +15,6 @@ class RobotCfg:
     port: int
     description: str
     fri_cycle_ms: int
-    joint_position_tau: float
-    active_controller: str  # "jtc" | "forward"
 
 
 @dataclass(frozen=True)
@@ -290,8 +288,6 @@ def build_settings(settings_path: str, check_files: bool = True) -> Settings:
         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=float(robot_raw.get("joint_position_tau", 0.04)),
-        active_controller=str(robot_raw.get("active_controller", "jtc")),
     )
 
     # digital_twin