1. Redid how I was doing the adaptor robot synch timing. I moved this to be on each adapter instead of having a global value on the sim. The problem is that you need the fine control of being able to tell each adapter how it is being updated in order to accurately model how the real robot is doing it. So there is a Synch robot param on the robot interface, but there is now also a similar flag on each adapter. So you configure the adapter to synch with robot or not, and then flip it on or off on the interface.

2. Modified the Dynamixel motor to allow a round robin data update model. This way we can lower the physics time step to output motor changes to all the motors more quickly, and each time update one or a few motors data each step. I also changed the adapters for the simulation model to let me model this behavior.

3. Added a flag so I could turn off dynamixel motor updates for specific motors.
1. Fixed a bug in the sim motorized joint code where when the servo pos got close to target pos it was sometimes speeding it up instead of slowing it down
2. Fixed a bug in the Dynamixel hinge motor where it was not doing the update every time update if setup that way.
3. Fixed a bug where the position/velocity of the dynamixel motor was not gettting set correclty for PositionVelocityControl motors
4. Reworked the basic hinge test for the robot to use a PositionVelocityControl motor
Added access to key motor definition params for the dynamixel hinge. This will allow users to configure the motor to emulate other types of dynamixel motors than just the AX12.