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