Added absolute position and velocity port

tor_bringup/config/tor_hardware.yaml

 actuators:
   raw_data:
     position_port: act_position
+    velocity_port: act_velocity
     effort_port: act_current
     mode_port: act_control_mode
     position_cmd_port: ref_position
     effort_cmd_port: ref_current
     mode_cmd_port: ref_control_mode
+    absolute_encoder_position_port: act_abs_position
     torque_sensor_port: act_torque
 
 e_stop:

tor_controller_configuration/config/tb_sine_sweep.yaml

+tb_torque:
+  type: "ModuleTestbenchTorqueControl"
+
+  dt: 0.001
+
+  joints:
+    - leg_1_joint