[actuators/teleport] Init parameter must be the robot position

It fixes the initial behaviour on wheeledRobot (which have an initial
Pi/2) rotation or weird behaviour if there is any transformation between
the robot and the teleport actuator
[actuators] Fix several issues in joystick

apply_speed is in Robot nowadays
don't rewrite apply_vw_wheels, just call method from WheeledRobot
[template] More fix for default velocity_model

Fix the template blend file so it works properly with physics control.
It could have been corrected directly in the builder template file, but
it would make it harder to understand for new users.
In the template builder file, set the default controltype of keyboard to
Position, so it can work in parallel of VWMotion (see also d27a0741243)