Correct the number of dofs for the hrp2-10/14.

The number of dofs correspond to the real number of dof for the robot.
ie, it is equal to the number of dof of the small model + 10, not
the number of dofs of the small model + 6 (= num of waist dofs).

This is based on the size of the reference vector given by
rtprint /localhost/kpg.rtc:qRef
when running the default sample script.

Besides, using the former number of dofs, the stabilisator may
not work properly.
Check whether the signals baseff and zmp were correctly provided before using them.