Add ddp in talos-torque control and python scripts to use sot-torque-control and TSID for controlling the robot in position and torque
The scripts main_sim_com_vel.py and main_sim_com_torque.py allow to replicate the ex1 and 2 of the TSID jupyter notebooks in position and torque control in Gazebo with Talos (see the jupyter here).
The scripts use the entity simpleInverseDyn which implements 5 tasks in TSID:
- Contacts 6D (one for each foot)
- Base orientation (named waist)
Add also a doxygen documentation for launching the examples in simulation.