sot-dynamic-pinocchio does not try anymore to appear as sot-dynamic.

Conflicts:
	README.md

update signal lowerJl and upperJl

[python] Remove Pinocchio wrapper and take pinocchio model and data directly as input
[python] Update Class HumanoidRobot
[c++] Deal with spherical Joints
[c++] Add kineromeo.py tutorial (uses gepetto-viewer for visualization)

Conflicts:
	CMakeLists.txt

* Use pointer to pinocchio model object instead of holding the resource in Dynamic entity
* Remove API for setting model parameters. Use Pinocchio API directly

> TODO: Removed operational frames. Add via pinocchio
> TODO: Changed API
> TODO: Expose Pinocchio model class in python

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