Fixes for kick parameter optimization

[timonegk]

Proposed changes

This adds some fixes used for the kick parameter optimization:

• remove the rest of tf and instead calculate base_footprint ourselves by just using the mean y value of both feet (what do you think, is that a valid assumption?)
• improve the usage of foot distance parameter (it is now the foot distance during the kick only, the robot returns to its initial position after the kick)
• remove bio_ik from cmakelists (see URDF not parsable from python wrapper when bio_ik is find_package'd TAMS-Group/bio_ik#29)
• add a first set of learned parameters

Necessary checks

• Run catkin build
• Write documentation
• Create issues for future work
• Test on your machine
• Test on the robot in simulation
• Put the PR on our Project board

[jgueldenstein]

tested and working in simulation