Introduced a new parameter, limit_gripper_force, to the get_yam_robot function, allowing for dynamic control of the gripper force during robot operation. Updated the function call to utilize this parameter instead of a hardcoded value.

Replaced the partial function for gripper force torque mapping with a direct reference to the mapping function. This change enhances code clarity and maintains the same functionality in the compute_target_gripper_torque method.

…CanInterface

Added a mechanism to track and handle consecutive communication failures for motors in the DMChainCanInterface. Introduced a new constant MAX_CONSECUTIVE_COMM_FAILURES and updated error handling to log warnings and abort operations after reaching the failure threshold. Enhanced the get_yam_robot function to include an optional parameter for gripper calibration control.

…terface

Updated the MAX_CONSECUTIVE_COMM_FAILURES constant from 10 to 250 to allow for more consecutive communication failures before aborting motor operations. This change aims to improve system resilience in the face of intermittent communication issues.