Validate repaired scheme.
The estimation + control scheme seems to be fixed, and it performs quite well in simulation, enabling 20cm-step walking.
This can be found on my fork on branch devel.
The test to be run is test_dcm_zmp_control.py.
I updated the doc (still on my fork's devel branch) to explain its usage.
I haven't merged on the main repo because I got conflicts and I did not have time to fix them, but it should be easy and pose no problems.
This should be validated on the robot.
PS: @imaroger you should check this to test the pattern generator with the repaired stabilizer.