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

Right now sot-dynamic-pinocchio is disguising itself as sot-dynamic. This is a nice as long as we have only one dynamic library used in the SoT. As it is not sure that we will have the same API between various dynamics library and that this pose problem in terms of naming if pc config files, I suggest that we move to a naming convention making clear which dynamics library is used.