Fix foot step placement during rotation #630
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Summary
Adjust foot placement during rotations, so the feet pivot in both directions. Otherwise, one foot always stayed on the front and the other one on the back when the robot was rotating in place. This lead to an instability along the diagonal axis.
Examples
New
Old
Proposed changes
Place the foot along a circle around the support foot so that it is an Asymptote angled with the target rotation divided by two. We divide by two, because half of the offset is already present from the previous step.
Checklist
colcon build