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

Pointed out by Aurelie Clodic.

Remove useseless dependency in sot-dyninv.
Add the two missing tasks.

Add a task for the right foot,
Remove the com at the beginning of the simu.

Add a task to limit the orientation of the waist.
Add a task to contol the orientation of the head.
Add a task to control the position of the arms.

Also the waist does not follow the legs naturally.
Due to the com constraint, the robot tends to lean
its head backward, and move its hands backward.

Add the possibility to use both viewer.

Add the possibility to use both viewer.

Add the possibility to use both viewer.

Ths correction concerned the position of the right hand.

Not completely using new macros.

For now, only works with branch
topic/sot-dyninv-binding of package sot-core.

It is already in the cmake subfolder.