Fix issues #6 and #7

This PR fixes:

• Issue #6 (closed) on the paths for applis
• Issue #7 (closed) on the wrong use of assert.

The overall behavior of the repository is closer to the expected behavior of an automatic testing suite and should improved robustness of releases.

Note: The python client test_* space and the one of the modules have a strange behavior. It is not possible to add members to an object given as the argument of a function.

scripts/appli.py

-from dynamic_graph.sot.core.meta_tasks_kine import MetaTaskKine6d, MetaTaskKineCom, gotoNd
-from dynamic_graph.sot.core.matrix_util import matrixToTuple
-from numpy import eye
-
-taskRH    = MetaTaskKine6d('rh',robot.dynamic,'rh',robot.OperationalPointsMap['right-wrist'])
-handMgrip = eye(4); handMgrip[0:3,3] = (0.1,0,0)
-taskRH.opmodif = matrixToTuple(handMgrip)
-taskRH.feature.frame('desired')
-# --- STATIC COM (if not walking)
-taskCom = MetaTaskKineCom(robot.dynamic)
-robot.dynamic.com.recompute(0)
-taskCom.featureDes.errorIN.value = robot.dynamic.com.value
-taskCom.task.controlGain.value = 10
-
-
-# --- CONTACTS
-#define contactLF and contactRF
-contactLF = MetaTaskKine6d('contactLF',robot.dynamic,'LF',robot.OperationalPointsMap['left-ankle'])
-contactLF.feature.frame('desired')
-contactLF.gain.setConstant(10)
-contactLF.keep()
-locals()['contactLF'] = contactLF
-
-contactRF = MetaTaskKine6d('contactRF',robot.dynamic,'RF',robot.OperationalPointsMap['right-ankle'])
-contactRF.feature.frame('desired')
-contactRF.gain.setConstant(10)
-contactRF.keep()
-locals()['contactRF'] = contactRF
-
-
-from dynamic_graph import plug
-from dynamic_graph.sot.core.sot import SOT
-sot = SOT('sot')
-sot.setSize(robot.dynamic.getDimension())
-plug(sot.control,robot.device.control)
-
-from dynamic_graph.ros import RosPublish
-ros_publish_state = RosPublish ("ros_publish_state")
-ros_publish_state.add ("vector", "state", "/sot_control/state")
-from dynamic_graph import plug
-plug (robot.device.state, ros_publish_state.state)
-robot.device.after.addDownsampledSignal ("ros_publish_state.trigger", 100)
-
-#target = (0.5,-0.2,1.0)
-
-#addRobotViewer(robot, small=False)
-#robot.viewer.updateElementConfig('zmp',target+(0,0,0))
-
-#gotoNd(taskRH,target,'111',(4.9,0.9,0.01,0.9))
-sot.push(contactRF.task.name)
-sot.push(contactLF.task.name)
-sot.push(taskCom.task.name)
-robot.device.control.recompute(0)