Merging development into master

Various fixes remained pending since June.

@traversaro  If you want to check

This function (posMove for a set of joint) could simply be:

bool ret = true;
    for (int i = 0; i < n_joint; i++) 
    {
            ret = ret && positionMove(joints[i], refs[i]);
    }
return ret;

All the rest is not needed! The check on joint is done inside the single joint positionmove.
the   " ret && poditionMove" is the same as in the wrapper,  will skip all the positionMove after the first fail