Modify CoM offset unit

Modify CoM offset unit in `bsp_inteface.m` to return in meter.
Modify to include CoG offset
Update to call all needed scripts from `test_caldyn_leftleg.m`
Add plot function

Add plot function - `plot_forces_moments.m`
Modify `test_caldyn_leftleg.m` to plot the results at the end.
Modify to plot all forces and moments