test(reference): Leg Improvements reference branch

[melund]

This PR track a version of the AMMR 2.5 repository with all the improvements by @depierie reverted.

This is used for reference and validation purposes.

[depierie]

Hey @melund , how can I bring this up-to-date with everything besides the wrapping? Is it enough to just merge the the master-ammr-2.5 into this one or is there a special trick you used? I'm planning to update all the results for the ISB and TGCS presentations

[melund]

Yes. It is enough to merge ammr-2.5 into it. I will do it right away.

[depierie]

Thanks!

[melund]

@depierie I have sent you an email :)