(AutoBalancer) : Enable to pass through references.
(samplerobot_auto_balancer.py) : Add example to check reference pass through by starting and stopping of abc mode.
(AutoBalancer) : Use transition_interpolator for joint angle synchronization.
(AutoBalancer) : Use MODE_SYNC_TO_IDLE instead of MODE_IDLE.
(Stabilizer, AutoBalancer) : Use ref_zmp in base frame according to specification of Seq and Sh
(hrpsys_config) : Revert qCurrent for st calculation.
Merge pull request #382 from snozawa/enable_to_passthrough_reference

Enable to passthrough reference