pinocchio-device: Add YAML parsing to make the map with the sensors.

WIP.
4 jobs for topic/pinocchio-device in 4 minutes and 36 seconds (queued for 3 seconds)
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robotpkg-sot-dynamic-pinocchio-v3-14.04-release Test
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robotpkg-sot-dynamic-pinocchio-v3-18.04-release Test
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robotpkg-sot-dynamic-pinocchio-v3-16.04-release Test
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doc-coverage Test
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