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)

Remove first column of gait matrix that contained the duration of each gait phase. Now gait matrix has one line for each timestep.

New organization and bidings to call Gait, FootstepPlanner and FootTrajectoryGenerator directly from Python

* Code cleaning and refactor
* Add Types, FootTrajectoryGenerator, Gait, FootstepPlanner classes
* Rename quadruped-reactive-walking qrw

Authored-by: Fanny Risbourg <frisbourg@laas.fr>

Reswitch to old estimator values + Put back things that should not have been cleaned + Try fixing gepetto viewer