add scope for hand and forearm positions
- fix bug in computation of axis/angle orientation of MinJerkPDLinkPoseTask
- add hand task to solver
- Fix bugs in solver (a minus was missing when projecting the task Jacobians in the nullspace of the base dynamics and also a projection in the nullspace of the previous tasks was missing)
- fix bug in MinJerkPDLinkPoseTask::parameterUpdated: the computation of the desired orientation was wrong
- some minor changes
Improve scope conf files
- fix little bug in toString function for eigen vectors
- temporarily use only damping in angular part of MinJerkPDLinkPoseTask