Separate dynamic plugin and dynamic lib

The corresponding code has been moved to the package sot-hrp2.

Remove rviz,
Better loading of the solver.

[skip ci]

[skip ci]

[skip ci]

The solver has been moved in sot-application.

  Compute zmp from force sensors in the feet.

  Some initializations that used to be performed in this package were in fact
  application dependent. These initializations have been moved to the new
  package sot-application.
  - class solver has been removed,
  - features and tasks are not created anymore in AbstractHumanoidRobot class.

This commit remove files and references which are now in different packages.

  se3.py as been moved to sot-tools.