Changes to the mujoco interface
Changes to the mujoco interface

-Fixed observations in cases where a joint with more than one degree of freedom was used(ex free joint).
-New implementation is slower but cleaner than original as it calls helper functions from the mujoco.sim.data instead of accessing directly to the data buffers.

-Added funtion calls inside the step which allows for bigger flexibility.
-Added debbug function which prints information about all the model joints/bodies/geoms/sites.

carloderamo/mushroom