Merge pull request #184 from fvalenza/topic/reworkModel

python/bindings_geometry_object.py

python/tests.py

src/multibody/model.hpp

src/multibody/model.hxx

src/multibody/parser/lua.cpp

src/multibody/parser/sample-models.cpp

src/multibody/parser/urdf-with-geometry.hxx

src/multibody/parser/urdf.hxx

src/python/model.hpp

src/python/robot_wrapper.py

unittest/geom.cpp

unittest/joint-accessor.cpp

unittest/joint-configurations.cpp

unittest/joints.cpp