Got back comControl + set scenario to zero-vel-acc
Edited naming conventions for rot vars
(to be more descriptive)
Fixed calculation of rel-Angs based on rel-RotMat objects
(eq.22 + some more renaming)
Used an alternative to read pos-vel sensors + couple of clean-up
(the older one fine with pos, not vel, bc of osim axis order)
Fixed getRef fcns for vel/acc (generic) + some comments clean-ups