Use .in file to specify openhrp3 directory and update RMFO sample

(samplerobot*, samples/SampleRobot/CMakeLists.txt)
Use .in file to specify openhrp3 directory for sample1.wrl model.
hrpsys_config.py requires VRML path (url) on initializing, which is used in ``getBodyInfo`` for sensors information.
Update RemoveForceSensorOffset sample according to update of sensor information.