🎐 Phase offset

[runeharlyk]

Purpose

• Use phase time to select controller instead of contact phase
• Adds s1 slider as a step height in visualization
• Make use of more std function, like hypot
• Adds a test of gait performance, to ensure it stays above 0.5 ms per iteration.

Note

• The first working commit of this gait took 1247 ms for 1000 iterations, now it takes 120 ms.