Synchronize Travis

 	Split kine_romeo in two scripts and synchronize cmake module

kine_romeo.py loads and uses full urdf romeo model
kine_romeo_small.py loads and uses romeo_small urdf model

The added terms should be negligible in most cases, even when feet are not planar, but this version is more general.

Correct also the linear force part of the Y component of the ZMP.

Remove the None members from the definition of a humanoid robot.

These members still need to be redefined when describing a humanoid robot

Add gripper frames and correct the initialization of the hand frames

More REP120-friendly.

The rightHand info was always the identity matrix.
Directly use the getHandParameter and remove
unnecessary intermediate operations.

  createOpPoint command with a valid name ("waist", "left-wrist",...) not
  set produced a segmentation faullt at signal recomputation due to access to
  a null pointer.

Separate dynamic plugin and dynamic lib

The corresponding code has been moved to the package sot-hrp2.

Remove rviz,
Better loading of the solver.

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