Test5: SO-init, ModCF, dt2ms.
(more realistic loading; higher for hip & ankle, lower for knee.
final-time 1.5s reached, still knee bending by time
-> end-effector control needed)
Test.6: SO-init except for arms, ModCF, dt2ms.
(To test the effect of etended arms, not a big effect observed,
tf 1.5s reached, knee-bending happens -> endeffector control)