feat: Properly implement enable/disable impedance control #220

Job	Run time
format_code / fmt	9s
build_dev_container / build_dev_container	1m 23s
unit_test / test	7m 9s
lint / lint	6m 27s
integration_test / test	7m 21s
build / build	8m 40s
build_release_image / build	51s
	32m 0s

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