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Disturbance Observer (UFE)

Craig McDonald requested to merge feature/disturbance-observer into devel-ufe

Description

Already reviewed by @bz here !360 (closed), but I decided to create a separate branch for user force estimation (UFE) development.

More specifically, the disturbance observe code in this merge request appears to slow down the control loop rate. Further investigation is needed, but I do not want to risk putting this code in production until we are certain it does not affect performance.

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