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