This commit remove files and references which are now in different packages.

  To trace all default signals, call AbstracHumanoidRobot.traceDefaultSignals
  method.

  This file is now defined by package sot-hrp2.

    This task contains the center of mass and ankles features.

    Both methods take a task as input and forward to Solver.sot.

Add support for additional frames storing sensors position, use it to compute HRP-2 camera positions.