Add ddp in talos-torque control and python scripts to use sot-torque-control and TSID for controlling the robot in position and torque

See merge request pyrene-dev/talos-torque-control!4

Use simpleInverseDyn entity of sot-torque-control.
Redo the example 2 of the TSID jupyter notebook with the sinusoid on the COM

Change controlled joint to right elbow (N°25)

Fix of sinusoid simulation files.
Add files for ddp simulation.
Add script for launching simulations.

Respect the namespace of matrix-geometry :
use dynamicgraph::sot instead of Eigen for ConstRefVector and RefVector

Use simpleInverseDyn entity of sot-torque-control.
Redo the example 2 of the TSID jupyter notebook with the sinusoid on the COM