Create internal Signals. Avoid unnecessary computations. Change the signal dependencies

[python] DynamicPinocchio is the new (plugin/module name) being generated

Making sot-dynamic-pinocchio appear as sot-dynamic-pinocchio

Pointed out by Rohan Budhiraja.

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