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.

[skip ci]

[skip ci]

[skip ci]

The solver has been moved in sot-application.

  Compute zmp from force sensors in the feet.

  Some initializations that used to be performed in this package were in fact
  application dependent. These initializations have been moved to the new
  package sot-application.
  - class solver has been removed,
  - features and tasks are not created anymore in AbstractHumanoidRobot class.