adding nullspace torques
corrected system time constant(inertial time) and control full posture. We do not need to weigh nullspace torques with an apparent inertia, this is already done in the downward sweep. A similar effect is shown Changs and Featherstones research. Added posture-test log for the case above. Later should change the naming of all data files (indicate the setup and controller gains for each case)
decoupled posture and ee control torques contributions. Now prioritization is possible