[Admittance] multiple state/command interfaces#1196

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MarcoMagriDev wants to merge 3 commits intoros-controls:masterfrom MarcoMagriDev:fix-state-and-command-interfaces

+15-9

Commits on Jul 6, 2024

fix: read/writes all configured state/command interfaces. Adjust state_command usage in write_state_to_hardware method
MarcoMagriDev
authored
fix: uses correct has flags in read/write methods
MarcoMagriDev
authored
fix: makes position state interface mandatory, adds compatibility with velocity command interface without position command interface
MarcoMagriDev
authored