Keyframe of joystick now expressed in seconds instead of number of iterations + Switch from 500Hz to 1 kHz

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

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

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

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

Improved initialisation that takes into account the initial position of feet and the initial height of the base based on q_init

Integration of the new blocks in the main loop to run on the real robot or in simulation + In openloop for now

PyBullet simulation is now hidden in a wrapper that mimics the interface we have when using the real robot, new classes and functions