Transform the matrix output into a homogeneous matrix for transformation matrices
Set real-time traces for the sot as default trace.
Uncomment the last line of the script
Disable the trace of right hand error.
Update the graph of the compensater.

Updated also of the adaptive gains of the hand.
Add other signals for flexibility state inversion
add templates for subvector handling but they seem to be useless for now.
Add new output signal for the case of any need.
Update the input vector to comply to the new state vector organization.