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

make all the trajectory meaningfull for morizawa com z and make all the important test running again.

allow the restriction of the evolution of the foot step rotation independently from the foot step position

enable feedback control on Naveau2015

get continuous trajectory as output, still diverge with the dynamic filter

enable the ffeback control on the pattern generator, still some stuff to debug with the DynamicFilter