Merge branch 'master' into icub_vor_update #371

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Run time

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Job	Run time
validate	1m 4s
build (3.8)	1m 50s
build (3.9)	1m 24s
build (3.10)	1m 38s
build (3.11)	1m 44s
build (3.12)	1m 36s
	9m 16s