(hrpsys_config, AutoBalancer) : Add debug port for COG
(GaitGenerator, PreviewController) : Push finailize reference zmp until que is full
Merge pull request #396 from snozawa/fix_cog_convergence_in_abc

Fix cog convergence in abc
(AutoBalancer) : Fix servoOff transition of AutoBalancer.
Merge pull request #397 from snozawa/fix_servooff_sync_mode

Fix servoOff transition of AutoBalancer.
Merge branch 'master' of https://github.com/fkanehiro/hrpsys-base into add-ref-wrench-from-seq-to-st
add std output of wrenches
add port check in calculating reference foot force