tested tau limit without its rate
Added lin terms to cost fcn
(also added printing option)
Lowered weight matrices for lambda
(some printing &testing stuff)
Test-11: deactivate mtp to avoid violating contact assump
(ZeroInit_CompCF_dt5ms_t1.2s_noMTP_increasedStab, need prolongation)
Test-12: impose contact_state to DS
(Test12_ZeroInit_CompCF_dt05_t2_OrientCont_NoMTP_fixedDS)