Add velocity regularisation
This merge request adds the possibility to choose the regularization task between a posture task and minimizing the joint velocity
[A venir] Mise en place de quotas sur nos instances GitLab. Plus d'information sur : https://doc-si.inria.fr/pages/viewpage.action?pageId=129728565
[Coming soon] Quotas installation on our GitLab instances. More information: https://doc-si.inria.fr/pages/viewpage.action?pageId=129728565
This merge request adds the possibility to choose the regularization task between a posture task and minimizing the joint velocity