# Conflicts:
#   scripts/Controller.py

New set of gains for MPCs (for h_ref), new velocities tests in joystick, scripts to eval RMSE, small fix in control cycle eval scripts

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

Devel croco 2

See merge request !3

Automatic window size for sliding window filtering + Possibility to filter angular velocity (off for now) + v_filt_bis_ is now of size 6 to handle angular part

Put estimated feet position pos_feet_ into currentFootstep_ instead of using desired position footsteps_