Improve Reliability of stickbot_humanoid_32dof_controlit by Integrating a Planner

[liangfok]

Sometimes stickbot_humanoid_32dof_controlit goes unstable immediately after starting the simulation. A potential cause is the fact that the difference between the robot's initial configuration and desired configuration is too large resulting in excessively high torque commands. Try integrating a planner that gradually moves the robot into its initial desired configuration.