Time spent by each block added to Logger + Integration of 15Hz low pass filters in loop + Logging of filtered quantities

Switching to odri_control_interface instead of solopython to retrieve from and send data to the masterboard

Switch updateState function to a C++ version included in Estimator class, small difference in result due to some sort of numerical error

Finish switching to full C++ for the whole-body control part + Error is no longer an attribute of the wbc class

Add C++ functions to FootTrajectoryGeneration for more efficient frame conversion + Control from yaml + Again a few changes for RPY to quaternion conversion

Choice of MPC with integer + Foot trajectory generator after MPC in case MPC optimizes footsteps + Adapt MPC Crocoddyl with footsteps optimization to the new architecture

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

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

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