add soft limits to linear test joint yaml and set rotational joint to torque mode

Author: JorisWeeda

march_hardware_builder/robots/test_joint_rotational.yaml

@@ -4,7 +4,7 @@ testsetup:
   ecatSlaveTimeout: 50
   joints:
     - rotational_joint:
-        actuationMode: position
+        actuationMode: torque
         allowActuation: true
         imotioncube:
           slaveIndex: 1

march_hardware_interface/config/test_joint_linear/controllers.yaml

@@ -17,3 +17,9 @@ march:
 #      gains: # Required because we're controlling an effort interface
 #        test_joint: {p: 50, i: 0, d: 10, i_clamp: 10, publish_state: true, antiwindup: true}
         # Note: these gains are tuned for the KFE joints in the exoskeleton
+
+      constraints:
+        linear_joint:
+          margin_soft_limit_error: 0.5
+          trajectory: 0.305
+          goal: 0.305