Clean, comment and correct the dynamic script with romeo.

Ths correction concerned the position of the right hand.
Clean and comment the kine script with romeo.
Clean and comment the script p105 with romeo.

Add the possibility to use both viewer.
rename ros/p105.py
Clean and comment the script ros-planche with romeo.

Add the possibility to use both viewer.
Clean and comment the script ros-walkromeo.

Add the possibility to use both viewer.
Purposefully add some gaps in the walk script.
Sur-constrain the walk of romeo.

Add a task to limit the orientation of the waist.
Add a task to contol the orientation of the head.
Add a task to control the position of the arms.

Also the waist does not follow the legs naturally.
Due to the com constraint, the robot tends to lean
its head backward, and move its hands backward.
Correct import pathes and robot name in the scripts.
Correct the right hand task for unittest/dyn_romeo.py