adjustements for the init postures
Add the SmartCompliance primitive in the interaction module.

This primitive allowq the robot to be both compliant and not exceed angle limits of motors.
change angle limit of some motors of Poppy.
Merge branch 'master' into artist_residence_etres_et_numerique
First version of the introduction with Poppy moving on the ground
Correct few bugs in the introduction dance of the residency
change several angle limit in the Poppy configuration to allow more range of motion
change the demonstrator for the residency needs
slight change in the SmartCompliance
Add a primitive to manage the torque_limit of motors. Thanks to this primitive, motor temperature is kept under 40°C even for intense mouvement.
bug fix GroundMotionIntro
Add a teardown method to the SmartCompliance primitive
Add Spasme primitive
The SmartCompliance is working well and the config of the robot is correct
Add a motor list input in the smart compliance behavior
Enable the smart compliance behaviour during the recording in the demonstrator GUI
Replace an USB2AX
First working representation repetition
First version of the clean version for managing the Poppy choreography
Debug of the main module. Everything seems to work excepted the end of the walking scene.