[removed ctrl_manager] replaced with parameter server. As it is, this script outputs data from base-estimator in a file.

[changed signal input of base estimator] from robot.device.state (size 38) to robot.sevice.joint_angles (size 32)

[added unittest on Base-estimator] to demonstrate that it shares the same pointer to robotUtil as Entity Example

test COM trajectory tracking in gazebo

mv nd_trajectory_generator from unitest to python/test as it is not unitary

add nd_trajectory_generator entity

See merge request loco-3d/sot-talos-balance!1

remove joint_trajectory generator because nd_trajectory_generator is sufficient, simpler and more generic
add "create_entities_utils.py" to instanciate entities
add an unit test for nd_trajectory_generation controlling 1 joint in position in gazebo

entites are derived from sot-torque-control package

addition to previous commit