Add parameter for context in talos and talos_abstract

Release of version 4.8.0.

[rom] make the 'reducedRom' simplifed model even more conservative

Fix for python3

See merge request !9

[rom] move rom to be valid when rbprm height is the same as fb height

add ref_height and default_com_height

(com z position in half-sitting on flat floor at z = 0 )

[rom] cut the heights of the ROMs for the legs

LP constraints

[fullbody] add new referenceConfig with elbows up and new weights vector with high weights on root rotation

use sole frame instead of last joint + transform