Use the urdf file to build the jrl::dynamic model.

Requires the romeo stack.
Correct half sitting pose.
Add sole size.
Add the urdf package and sole data.
Use loadUrdf rather than loadFromParameterServer.
Add jointMap to store special joints mapping
(same data will be used for dynamic model creation and pg creation)
Merge pull request #1 from francois-keith/urdf_parsing

Urdf parsing management