Merge pull request #3 from amifsud/master

fixing symetry problem in hand compensater and adding hands position in traces
Update hand compensation scripts
Merge pull request #4 from amifsud/master

Add commandds for changing coefficients and measurement of the time of the flexibility computation
Small update of the seqplay script
Add zmpref signal and change the contact point in double support to the zmp
update some parameters for stabilization
refactoring
Move to the new flexibility state observer.
adding state-space-linear-controller and hrp2.hpp wich provides hrp2 constants
adding test for state-space-linear-controller
adding hrp2-linear-state-space-stabilizer