Talos is the generic controller, and Pyrene is the Controller for the current robot

* add halfSitting COnfiguration
* add OperationalPointsMap to robot.py
* Change dependency to sot-dynamic-pinocchio
* add linking to pinocchio
* edit prologue and robot.py for sot.pyrene module
* remove prologue and robot.py from sot.talos module
* change baseff (freeflyer orientation) to quaternion

TODO: Confirm the position of the sensors gyroscope and accelerometer
TODO: Confirm the position of the camera