manage the grippers and remove the comuptation of the statistic on the zmpmb when it is not computed
re-enable the creation of the openHRP files .pos .zmp .hip
correcte the dynamic filter, add precision to it in the SPPQ solver, take form the urdf the vector from the waist to the left and right hip respectively
debug the inverse kinematic, the parsing of the upperbody in the dynamic filter and the zmpmb computation
appeared after a miss call of make release
