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Defined a Python module + installation of it

Merged Defined a Python module + installation of it
cmastall/example-robot-data:topic/icub into devel
Merged Carlos Mastalli requested to merge cmastall/example-robot-data:topic/icub into devel

This PR defines Python module for this repository. With this, we can reuse robot loading function in any project. Additionally I included few remained improvement of ICub robot.

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