message: FIX: Remove TODOs
  `_filtered` in `tau_ext_hat_filtered` derives from having some observer RCU
  internally. Also configurable noise not needed for MVP, but can be setup later
  if need be
diff: @@ -326,8 +326,6 @@ void FrankaHWSim::updateRobotState(ros::Time time) {
  this->robot_state_.theta[i] = joint->position;
  this->robot_state_.dtheta[i] = joint->velocity;
  - // TODO: Add configurable noise here?
  - // TODO: Add filter
  this->robot_state_.tau_ext_hat_filtered[i] = joint->effort - joint->command;
  this->robot_state_.joint_contact[i] = joint->isInContact();
  