There is meta_task_dyn_passing_point to help in the initialization
of this task

Define MetaTaskDynLimits to handle the joint limits in the
dynamic solver. The gain is arbitrarily set.

Modified function name and command to set second order kinematics in order to uniform it to Device::setSecondOrderIntegration

Added secondOrderKinematics option with drift Jdot*dq compensation in solver-kine and userfriendly changes/commentaries in solver-op-space.cpp

Added secondOrderKinematics option with drift Jdot*dq compensation in solver-kine and userfriendly changes/commentaries in solver-op-space.cpp

This reverts commit 8eb4d5ef.

This reverts commit d16b100c.

There were 2 issues:
- The task was moved two layers down (instead of one).
- If the task to move had already the lowest priority,
it used to create a segfault. Since in this case, the
operation 'down' is useless, a guard has been added.

Directly use the corresponding macro

Remove the command MAKE_DIRECTORY that has been moved in python.cmake

Add the missing dependencies
Modify the creation of folders for python