(hrpsys_config, Stabilzier, AutoBalancer) : Use contactStates in Stabilizer to specify single support phase or double support phase
(Stabilizer) : Fix USE_IMU_STATEFEEDBACK to USE_EEFM_STABILIZER for switching stabilizer algorithm and fix default debugLevel
(Stabilizer) : Fix transition between MODE_AIR, MODE_IDLE, and MODE_ST. Set MODE_AIR if startStabilizer is called in not on_ground condition
(hrpsys_config.py) : Connect accRef from abc instead of seq. Note that connection from seq at previous revision is invalid and we should use sh instead of seq.
Merge pull request #292 from snozawa/update_st_abc_walkingphase_misc

Update st abc walkingphase misc