Changelog: fix/extract_common_angle_wrapping (pull request #638): move angle wrapping to common place, reinplement, and test Approved-by: Alexander Reske feature/primalsolution_warmstart (pull request #620): add solver run based on external primal solution Approved-by: Farbod Farshidian fix/desiredFootholds (pull request #637): fix mode schedule issue Approved-by: Farbod Farshidian feature/boxSoftConstraints (pull request #619): soft box constraints Approved-by: Mayank Mittal Approved-by: Farbod Farshidian feature/sqp_value_function (pull request #634): Feature/sqp value function Approved-by: Farbod Farshidian feature/load_more_pairs (pull request #630): extend load vector of pairs Approved-by: Farbod Farshidian fix/rotationErrorJacobian (pull request #632): Fix/rotationErrorJacobian Approved-by: Farbod Farshidian fix/rotations (pull request #635): Unify rotation transforms. Approved-by: Johannes Pankert Approved-by: Maria Vittoria Minniti fix/propagate_pinocchio_setup (pull request #614): export pinocchio cmake configs to downstream catkin packages feature/gh-action: Add an action to build and test OCS2 in Debug and Release