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`JointActuators` which essentially is just bookkeeping sugar to keep track of what joints are actuated. MBP uses them to setup an input port for actuation and apply actuation on each joint.\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/8147)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/369621794","html_url":"https://github.com/RobotLocomotion/drake/pull/8147#issuecomment-369621794","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8147","id":369621794,"user":{"login":"SeanCurtis-TRI","id":22159799,"avatar_url":"https://avatars3.githubusercontent.com/u/22159799?v=4","gravatar_id":"","url":"https://api.github.com/users/SeanCurtis-TRI","html_url":"https://github.com/SeanCurtis-TRI","followers_url":"https://api.github.com/users/SeanCurtis-TRI/followers","following_url":"https://api.github.com/users/SeanCurtis-TRI/following{/other_user}","gists_url":"https://api.github.com/users/SeanCurtis-TRI/gists{/gist_id}","starred_url":"https://api.github.com/users/SeanCurtis-TRI/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/SeanCurtis-TRI/subscriptions","organizations_url":"https://api.github.com/users/SeanCurtis-TRI/orgs","repos_url":"https://api.github.com/users/SeanCurtis-TRI/repos","events_url":"https://api.github.com/users/SeanCurtis-TRI/events{/privacy}","received_events_url":"https://api.github.com/users/SeanCurtis-TRI/received_events","type":"User","site_admin":false},"created_at":"2018-03-01T15:09:35Z","updated_at":"2018-03-01T15:09:35Z","author_association":"CONTRIBUTOR","body":"\n\n\n\nReviewed 10 of 10 files at r6.\nReview status: all files reviewed at latest revision, 3 unresolved discussions.\n\n---\n\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/8147)*\n<!-- Sent from Reviewable.io -->\n"}}
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