Fix actuator package

[codekansas]

• [ ] Merge actuator package changes
• [ ] Implement better pre-checks

[WT-MM]

Some ideas (for @hatomist to think about):

• On init, just read the motor and check if valid. Set the target position of the supervisor to be the current position of the motor to avoid large uncontrolled jumps
• Avoid spamming set actuator commands if they have not changed form the last cycle