Rename torque_command to direct_torque

[urfeex]

The script command has been renamed in the controller.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

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Additional details and impacted files

@@                Coverage Diff                @@
##             torque_control     #362   +/-   ##
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  Coverage                  ?   75.97%           
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  Files                     ?       92           
  Lines                     ?     4212           
  Branches                  ?      459           
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  Hits                      ?     3200           
  Misses                    ?      779           
  Partials                  ?      233           

Flag	Coverage Δ
start_ursim	81.50% <ø> (?)
ur5-3.14.3	74.80% <ø> (?)
ur5e-10.7.0	69.76% <ø> (?)

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[urfeex]

I'm not sure whether that change as made it to the PolyScope 5 Beta program, so I'm a bit hesitating on merging this.