[demo] platform polytopes

CMakeLists.txt

data/urdf/cross_gap.urdf

script/dynamic/plateform_hand_hrp2_interp.py

script/dynamic/plateform_hand_hrp2_path.py

script/dynamic/plateform_hrp2_interp_testTransition.py

script/dynamic/sideWall_hyq_interpKino_intersection.py

script/dynamic/stair_bauzil_hrp2_interp_noRamp.py

script/dynamic/stair_bauzil_hrp2_interp_testTransition.py

script/tools/stat_muscod_qp.py