Added the option to remove Pelvis ccords
(so far 6 pelvis coords were also used which is not a safe assumption
for the optimizer. The correct setup is to remove them from actuator
coordinates. Still for some testin purposes make sense to use them.
+ used setFootCoMDistRatio to read COM position)
Cleaned-up and removed old solver dependencies
(from now on MPC and SetupMPC friles can be deleted.
There are new functions/variables to initialize the solver.
Some global vars defined to keep track of coord-actuator
vs. all-actuator which means torques + contact forces)