merge new algo

README.md

data/meshes/polaris.stl

data/urdf/polaris.urdf

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

profile/scenarios/darpa_hyq_interp.py

profile/scenarios/darpa_hyq_path.py

profile/scenarios/ground_crouch_hyq_interp.py

profile/scenarios/polaris_hrp2_interp.py

profile/scenarios/polaris_hrp2_path_no_step.py

profile/scenarios/stair_bauzil_hrp2_interp.py

profile/scenarios/standing_hrp2_interp.py

profile/scenarios/standing_hrp2_path.py

script/scenarios/car_hrp2_interp.py

script/scenarios/darpa_hrp2_interp.py

script/scenarios/darpa_hrp2_path.py

script/scenarios/darpa_hyq_quan.py

script/scenarios/demos/darpa_hyq.py

script/scenarios/demos/darpa_hyq_path.py

script/scenarios/demos/ground_crouch_hyq_interp.py

script/scenarios/demos/ground_crouch_hyq_interp_bridge.py