A couple of clean-up in WBOpt + added conds for removing mtp+patella
(added osim file, several cleanup for wbopt, still more needed)
Edited opt-form in CG
(major axis order from sdfast to osim files,
totall change in components was needed)
Retreived basic changes in old WBO-cvxgen, added a new descript file
(since changes not applied on old ones, need to be compiled first)
Got WBopt back to the version before adding noMtp/noPatella option
(acc calculations deviates in the new one .. should be checked)
Activated limitFeetCartesianAcc
Cleaned-up for tau_prev in comp. tau limits
(also reduced max tau change val)