Set quasistatic shrink factor in valvedemo
Set quasistatic shrink factor in valvedemo

Also adds coaxialComputePelvisXYZ function to allow resetting the nominal base
position given the current foot locations.

openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro