Fix the YOGA on right foot in the model YOGA-controller+matlab-simulator

[nunoguedelha]

The YOGA starting on the right foot is not working for now in the model YOGA-controller+matlab-simulator most probably due to the current tuning in states 8 and 9 of the controller state machine. To be analyzed.

[nunoguedelha]

@traversaro , I had forgotten this one, I'll put in the last position of the Backlog. I think showing more clearly the switching in the demo is a good significant addition, although not really a priority. Let me know in case you have a different opinion.

[traversaro]

Ok for me, but first let's try to wrap up a first release with the YOGA++ demo working, as we discussed last week.

[nunoguedelha]

Sure, I just opened it for not getting it out of sight.