[C++][Cmake] Reorganize urdf parsers - moved parsers one level above

CMakeLists.txt

benchmark/timings-geometry.cpp

benchmark/timings.cpp

src/CMakeLists.txt

src/multibody/geometry.hxx

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

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

src/multibody/parser/urdf.hxx

src/multibody/parser/utils.hpp

src/parsers/lua.cpp

src/parsers/lua.hpp

src/parsers/lua/lua_tables.cpp

src/parsers/lua/lua_tables.hpp

src/parsers/python.cpp

src/parsers/python.hpp

src/parsers/sample-models.cpp

src/parsers/sample-models.hpp

src/parsers/srdf.hpp

src/parsers/urdf.hpp

src/parsers/urdf/geometry.hxx