*Previous halfSitting did not have horizontal feet

* use cmake variables instead of rospack to find the urdf paths
* optional dependency on talos-data

*remove hard-coded path for finding urdf files. use rospkg instead
* use the current half-sitting pose for initialConfiguration

*OperationalPointsMap is a dict object
*expand halfSitting to include gripper as well.

TODO: make talos_small.urdf (without the grippers)

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