Added cost for frame rotations + extras

This PR contains the following tasks:

  • Added frame rotation and its Python bindings
  • Added cost for frame rotation and its Python bindings
  • Renamed function to quasiStatic (make all the corresponding changes in examples)
  • Used example-robot-data for unittest with Python bindings
  • Added an extra unittest for shooting problem using Talos arm

I need to include the unittest before merging it!

Edited by Carlos Mastalli

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