feat: Implemented HumanGround residuals with rotvector/AngVel=On #981
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This may speed up the model a bit.
This may speed up the test slightly. This is the slowest test so it will improve the time it takes for the CI test to run.
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This PR updates the rotational measures used for the residuals to caculate the angular velocities as output.
This should give a more robust measure (less prone to +/- 2pi flipping) to apply the residual forces to.