update MinitaurSetup.cpp/h to allow switching between different minitaurs. add getToeForces, thanks to Avik (requires 8 toes!)

examples/RobotSimulator/MinitaurSetup.h

@@ -16,6 +16,8 @@ public:
 
 	void setDesiredMotorAngle(class b3RobotSimulatorClientAPI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
 
+	// Added for testing
+	int getToeForces(class b3RobotSimulatorClientAPI* sim, int groundid, b3Vector3 normalForcesOut[4]);
 };
 #endif //MINITAUR_SIMULATION_SETUP_H