Add support for disabling torque via hardware parameter

[Maverobot]

Summary

This PR adds support for optionally disabling torque in the Dynamixel hardware interface. This feature is necessary for implementing a teleoperation setup where one robotic arm (the leader) is manually guided and the other (the follower) mimics its movements.

Motivation

In the teleoperation setup, we use two Dynamixel-based robotic arms:

• Leader Arm: Controlled directly by a human operator. To allow manual movement, torque must be disabled on this arm.
• Follower Arm: Receives the leader's joint states and attempts to replicate the motion by applying them as desired joint positions.

The current Dynamixel hardware interface always enables torque on startup and after control mode changes, which prevents passive operation for the leader arm.

Changes Introduced

• Added enable_torque hardware parameter (defaults to true).
• Introduced should_enable_torque_ flag to control torque behavior.
• Conditioned torque enable calls based on this flag during init and control mode changes.

Related Project

Teleoperation setup repository: koch-v1-1