fix submodule url

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