Controller feedback

Got rid of GetTorques function in CompassBiped

Added code for performing phase reset when the leg impacts the ground
(set ExtP_reset to desired reset phase). Also added code for adding an
"impulsive torque" to the legs upon impact, i.e., causing a sudden
change in angular velocities (either a constant change or bring them to
specific values)

Changed the 0 value for Switch and OutM so the output torque has the
appropriate dimension for CompassBiped when the controller uses no
pulses.
** TO DO ** figure out how to deal with a single pulse to one joint

Also re-coded the old adaptation function

Finally, stopped trying to render torques when no pulses exist.
AlexSim

Worked on simulating Alex's results. Simulator works nicely after
synchronizing the controller (which only takes care of leg retraction
and extension) by doing a phase reset.

Corrected a bug on phase resetting in the controller.
Also caught a bug in Run.m when it reaches the end of tspan.