Fixes DCMotor clipping for negative power and adds actuator tests

[jtigue-bdai]

Description

This PR adds tests for actuator initialization, configuration, and computation for Implicit, IdealPD, and DC motor actuators.

This PR also updates the DCMotor model to clip based on a four quadrant DC motor model. This will fix improper clipping in the negative power regions (i.e. positive torque and negative velocity or negative torque and positive velocity).

NOTE: This PR is dependant on the pytest migration in: 2034
This PR includes changes made in 2291 and would be an alternate candidate.

Fixes #2139

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)

Screenshots

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[kellyguo11]

hmm looks like the DC motor and environment tests are both failing, along with a few others, but not sure if they are all related to this change