add off switch for the stabilizer
Add scenario of stabilized seqplay
Add posture to double support stabilizer
make gains computations online using poles (eigenvalues)
Add steps mode generator to perturbations
Correct the case of single iteration of a step perturbation
Improve management of constants
Add a fixed gain mode for the decoupled stabilizer
Correct the flexibility component around x

Also improve debug output and code layout
Add elasticity modifier
Set an updated value for the vertical elasiticity
Add prototyping folder

Add other files and script
Correct the posture task
Add zmp references to use stabilizer.
Correct the reference velocity
Improve interface
Upgrade the robotviewer model with default IMU measurements
Add a scenario and a script to hand compensation in the presence of chest oscillation
Update seqplay to be compatible with the stock stabilizer

Some other modifications also are included
Adapt the static stabilizer to the flexibility identification