Added Point/Torque Actuators on Foot Point
(to apply contact forces and torques on multibody dynamics,
to replace the need to read external load file,
missing: running getControl method)
Edited point/torque actuators and updated their control-sig in the loop
(removed external forces, old mpc computations, faster now
missing: adjusting the lambda and tau orders)
Replaced lambda with external GRF for standing (zero-init-state of running)
(disabled esternal GRF
+ disabled init-state for running
+ set the init state to zero instaed for running model)