Release of version 2.1.1.

Release of version 2.0.2.

[sot-hrp2-device]

* add setNoIntegration function for no integration of control
* move robotState to sot-core device
* map velocity sensor data, if available, to robotVelocity signal

If base position and attitude exist, set as first 6 dof of robotState
else, set as zero

[Python] module sot.dynamics is renamed to sot.dynamic_pinocchio

Eigen and Pinocchio with changes in python class Robot

TODO: load specificities with srdf.

ROSPACK generates problems for includes.

Add output signals to device for motor currents and PD gains

Enable to plug the velocity from the device entity to dynamic.

Increment time of accelerometer, gyrometer and robotState output signals

Fix indentation

Improve structure of python bindings. Rather than creating python bindings for the sot-hrp2-controllers (which are not Entities), create just a python binding for the sot-hrp2-device (which is an Entity)