This PR will allow control input to mujoco <motor> actuators to be set from multi-body config joint torque vector.
It has a higher priority to PD control - meaning that if robot().mbc().jointTorque is non zero, then robot().mbc().q and robot().mbc().alpha inputs will be ignored for all <motor> actuators.
Similar to position and velocity inputs, joint torques will be linearly interpolated to set mjData.ctrl at each simulation step.
This PR will allow control input to mujoco
<motor>actuators to be set from multi-body config joint torque vector.robot().mbc().jointTorqueis non zero, thenrobot().mbc().qandrobot().mbc().alphainputs will be ignored for all<motor>actuators.mjData.ctrlat each simulation step.