Fix waist initialization in pg entity

Initialize waist position from real robot state when InitState is called.
Reduce the FeetConstraintXY for HRP4 and Romeo.
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A jump has been done in version number to synchronize with robotpkg version
Merge pull request #8 from aclodic/master

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Merge pull request #7 from gergondet/topic/fixWaistInitialization

Fix waist initialization in pg entity