Minor edits, removed limits on acc + used fixed control signals
(to test the generated torques, all actuators are working correctly,
the solution is not stable yet)
Cleaned-up & Removed several unnecessary functions
(to make a minimal version, removing the links to the older mpc solver)
Removed pelvis coordActuators + reduced time-step
(reducing time steps helps to see the changes in torque values before divergence,
pelvis coordActuators removed to rely on contact forces)