[Polymetis] Override default controller from RobotInterface

[exhaustin]

Description

Please include a summary of the change and link to an issue this PR fixes. Please also include relevant context. List any downstream components that might be affected by this change.

Fixes # (issue)

Type of change

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• Bug fix (non-breaking change that fixes an issue)
• Proposes a change (non-breaking change that isn't necessarily a bug)
• Refactor
• New feature (non-breaking change that adds a new functionality)
• Breaking change (fix or feature that would break some existing functionality downstream)
• This is a unit test
• Documentation only change
• Datasets Release
• Models Release

Type of requested review

• I want a thorough review of the implementation.
• I want a high level review.
• I want a deep design review.

Before and After

If this PR introduces a change or fixes a bug, please add before and after screenshots (if this is causes a UX change) or before and after examples(this could be plain text, videos etc ) to demonstrate the change.

If this PR introduces a new feature, please also add examples or screenshots demonstrating the feature.

Testing

Please describe the tests that you ran to verify your changes and how we can reproduce.

Checklist:

• I have performed manual end-to-end testing of the feature in my environment.
• I have added Docstrings and comments to the code.
• I have made changes to existing documentation where needed.
• I have added tests that show that the PR is functional.
• New and existing unit tests pass locally with my changes.
• I have added relevant collaborators to review the PR before merge.
• [Polymetis only] I ran on hardware (1) all scripts in tests/scripts, (2) asv benchmarks.

[codecov-commenter]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 34.05%. Comparing base (26de62d) to head (65ed30e).
⚠️ Report is 57 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1340      +/-   ##
==========================================
- Coverage   34.18%   34.05%   -0.13%     
==========================================
  Files         358      357       -1     
  Lines       35522    35263     -259     
==========================================
- Hits        12143    12010     -133     
+ Misses      23379    23253     -126     

see 2 files with indirect coverage changes

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