simulation_torque functions #21
Description
Currently the simulation_torque functions are not useful.
They make sense for each conceptual actuator (i.e. 2 for each actual actuator on the muscle model), but both implementations don't do that and instead try to compute the mujoco actuator torque, are only accurate for current mimo motor definitions and using the action setting functions. They also overlap significantly with the qfrc_actuator mjData attribute.
When we have time, should look over our usages of these and adjust them to be actuation-model-actuator based.
We should also check how qfrc_actuator applies in situations where multiple joints are actuated with a single motor using tendons. This scenario isn't really considered by our own functions, despite MIMo having multiple joints like this.