Convert OpenSim model to implicit formulation - deadline: end Oct 2020

[dblana]

Create C/Matlab version of the model, that can be used for real-time forward dynamic simulations or optimal control.

• [ ] Check status of all software required (Autolev?!, C compilers ...)
• [ ] Find previous attempt to do this for the whole arm
• [ ] Simplify according to #1
• [ ] Add external forces to all segments
• [ ] Run code