Switch all solo12 loading to SoloLoader + architecture to run scenarios from another script + Clean test_4 + New EulerToRotation function

Remove osqp files that were included in the repository since they were conflicting with the standard osqp install

Change control architecture to work in horizontal frame with reference quantities instead of relying more on estimated quantities

Add vertical offset in MPC to take into account position of CoM under position of the middle of the base

Add possibility to use estimator with perfect height and linear velocity estimation (when in simulation)

Hand resolution of some conflicts