Main changes since 2.0:

- Fix drawing function (put decoration under LOGO flag)
- Add new functions to compute distance between ROBOT and a given agent
  and to disable collision checking with HERAKLES arms.

- Create visibility images for visibility processing testing
- Add visualization for monitoring spheres
- Add isOn info in poster
- Move Monitoring Spheres Management in a new file
- Change isOn and isReachable parameters through request.
- Update SA after some time even if unstatic

- Storing configs for Mightability Analysis
- PR2 is now default robot for MA ans Agent State Analysis
- Creation of Manipulability and Taskability Graphs