Add DEMONSTRATION parameter in yaml to enable/disable the demonstration functionalities like the automatic switch to static gait and the orientation control with L1

Implement yaw rotation during static phase + Try to fix issue when returning to trot then switching back to static again

Continue work on C++ control + Rework joystick to full c++ + Tweak joystick values + Automatic switch to 4 stance + Position control by joystick

Add possibility of NLE feedback in MPC + Add nice(-20) priority + Add lots of debug output in QP WBC

Rename h_v_bis into h_v_windowed + Remove h_v_windowed_filt + Adjust which data is sent to planner and mpc