Revert "Removed non-standard ROS serialization for KUKA joints"

This reverts commit c1ae95a1b4a7cf40ffe0711e7226960c127d4f64.

This encoding is in fact 'relatively standard', as it is part of the
ros-orocos interface, and brics-actuator interface.
[doc] add sound to generate_doc
[tools] update components_exhibit to Blender 2.66

Change in Blender 2.66:
scene.render.alpha_mode : {'PREMUL' -> 'TRANSPARENT'}
[testing] Add some unit-test for renaming

In particular, test loop behaviour and so fails (#357)
[builder] Pass the name of the robot in the Robot ctor

Avoid to duplicate code, and only set the name if it not None
[builder] Fix handling of loops in builder script

Fix #357
[doc] Describe how to handle loop at the builder level
[doc] generate_doc load dynamically all components
[doc] Improve generate_doc to generate doc from robot python file
[core] Use add_property instead of reinventing it in wheeled_robot

Moreover, it will ease the automatic generation of robot documentation
(#284).
[test] Add regression test for issue #423
[builder] Fix issue #423

Instead of doing the frame change at the append level, do it at the end
in the after_renaming method. In this way, we don't care about the
relative order between translate(), rotate() and append().
[testing] Use properly morse.testing.testing.main
[doc] Fix the documentation related to #423

While here, remove some other outdated comment, like comment about
WheeledRobot and unparent_wheel
[actuator/waypoint] Revert Waypoint

This reverts commit 4754aeb831b7b7fc73012e646ceacd658c7d5304.
"[actuator/waypoint] not active if no new goal"

It is not consistent to test the "active" state in datastream mode.
(it was OK in service mode, though)
[builder] add Robot.set_friction and test
[robots] Document in the code properly each robot

Last step for #284
[doc] Don't print data section for robots
[doc] Add link to set_mass and set_friction in the robot documentation
[helpers] Factorise the code used for add_{level, data, property}