I assume they're trying to state that the force from the motor torque (N or lbs) times the radius is equal to the weight force (again N or lbs) times the radius.
This equation might better be stated as:
r x F = r x F
If you are using spec motor torque from a sheet, the units would be in N-m or lb-ft (or some derivative of those two) and would be equal to r x F (meters or feet times newtons or lbs)
The motor torque is:
T = r x F
Motor torque in those equations is a force not a torque, so you are correct.