This reverts commit 9fd2003a.

  This reverts commit 1716ac29.

  This reverts commit 46085b6b.

Conflicts:

	unitTesting/python/dynamic_walk.py
	unitTesting/python/feet_follower.py

    - by calling signals through Entity instance members instead of by
      signal('name'),
    - by replacing dynamicRobot member by dynamic,
    - by replacing simu flag by simulation,
    - by replacing robotSimu member by simu
    - by defining members for each operational point:
        AbstractHumanoidRobot.features['right-wrist'] can be accessed by
	AbstractHumanoidRobot.rightWrist for instance.