MyPluginPassivityHumanoid

Latest tuning of the plugin, version after tuning with Mehdi

Slight tuning of the plugin

Update to keep consistency in mc_rtc with other versions of external torque (Ls should be positive in the complete dynamics function bet the external torques negative, so if you add Ls to the external torques it should be negative in the external torques)

tuning parameters

clang-tidy and extra logging. Also some debugging in the tuning parameters