Add other trajectories
Activate torso compensation by default
Reduce the trust in constant support position
Add an iterative solver for discrete time non algebraic riccati equation.
Finish the LQR implementation for linear time invariant system.

Change the names of the files, and create a controller object.
Correct debug signal
Create LQR implementation of the stabilizer.
Change the default stabilizer for the LQR implementation
Add linearized cart table model for prototyping and simulation
Add default force values of force sensors

(unused until now)
remove the yaw for the compensation of the orientation of the trunk.