feat!: Add support for setting external wrench and stiffness #216

Job	Run time
format_code / fmt	7s
build_dev_container / build_dev_container	1m 25s
build / build	9m 20s
lint / lint	6m 32s
unit_test / test	6m 38s
integration_test / test	7m 20s
build_release_image / build	39s
	32m 1s

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