Merge pull request #2 from amifsud/master

Changin measures covariance and hands position
Add the signals of output com velocity
correct debug signals
Correct the dynamical model
- correct the elasticity vector
- correct values of reference positions and accelerations
- make some output text at debug mode
Update python scripts.
Correct header name
Revert change for testing
Use the transformation matrix instead of linearization to get the real position
The direct flexibility is now used
fixing symetry problem in hand compensater and adding hands position in traces
Merge branch 'master' of github.com:stack-of-tasks/sot-stabilizer