Fix floatingBaseBalancingTorqueControlWithSimulator.torqueControlBalancingWithSimu with contact switch

[traversaro]

Change parameters of floatingBaseBalancingTorqueControlWithSimulator.torqueControlBalancingWithSimu with the goal of:

• Reduce simulation time (as this is intedended to showcase the controllers+simulators, it does not make sense to do yoga extended)
• Set a fixed simulation time (so we can use it in automatica testing)
• Changing some parameters it seems that contact switching is working fine, so I enable it again to show that the simulation is not running with a feet fixed to the ground

[traversaro]

@gabrielenava friendly ping