Pb with pinocchio v2.1.0 and retrieveCollisionGeometrey.
It works only if this method is inline.

Not tested yet.

add a guess on the initial condition for the lineariation.

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

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