Framework process + Regulator update

[TwistedSim]

• Add a base class for the framework processes
• Remove some uneeded complexity in the regulator
• Fix an old import bug in geomtry/pose

P.S.: Make sure to merge dev-montreal into dev first, then change the merge direction to dev in the PR.

[PhiBabin]

Il faudrait rajouté un check pour py3.6. Avant d'utilisé cette PR