FIXED ReferencePlatform2011Entity issues

SimulatedReferencePlatform2011\ReferencePlatform2011Entity.cs: fixed issue with nonaccelerating wheel on circular trajectories (one wheel lifted off and lost the contact with ground, robot continued to drive on two casters and one drive wheel) - caster wheels raised by one mm; fixed issue with low sensitivity to wheels torque delta (0.8 and 1 currents produced straight trajectory) - atavistic anisotropic friction on caster wheels removed; wheels flipped - no need for this pesky minus around torques and velocities;