Fix parameter for walking

There are many indent fixing.

Main tuning points were as follows.
ー changed `static long g_period_ns` in iob.cpp：1000000 -> 3000000
ー changed `atlas-set-servo-gain-by-torque-limit` argument
ーー legs：3.0 -> 1.0
ーー torso：2.0 -> 1.5