all: replace deprecated humanoidSimple by humanoidRandom

benchmark/timings-cholesky.cpp

benchmark/timings-derivatives.cpp

benchmark/timings.cpp

unittest/aba-derivatives.cpp

unittest/aba.cpp

unittest/algo-check.cpp

unittest/centroidal.cpp

unittest/cholesky.cpp

unittest/com.cpp

unittest/compute-all-terms.cpp

unittest/crba.cpp

unittest/dynamics.cpp

unittest/energy.cpp

unittest/finite-differences.cpp

unittest/frames.cpp

unittest/jacobian.cpp

unittest/kinematics-derivatives.cpp

unittest/model.cpp

unittest/regressor.cpp

unittest/rnea-derivatives.cpp