[C++][Python] Removed references to kinematic model/data in geometry model/data. + fixed unallocated memory map ( due to using reserve keyword instead of resize)

https://www.python.org/dev/peps/pep-0008/

A few hints:
    + About Spaces:
        - always after a comma
        - never after [, (, {
        - never before ], ), }
        - always around -, +, *, **, %, ==, >=, <=
        - always around = for an assignation
        - never around = for a default value of an argument
        - never at the end of a line
    + One statement by line:
        - nothing after : unless inside []
        - no ;
    + No useless (), like in a simple if or assert
    + Indentation uses four spaces
    + Blanklines:
        - 2 before class or function declaration
        - 1 before class method declaration
        - never more than 2
    + Line length:
        - We said 79. This is far from beeign respected. Maybe 119 is more reasonable
    + Align:
        - at the begining of a line continuation
        - not multiple spaces before = to align multiple assignements

Of course, in our case, it would be tricky to follow some other rules, like:
    N802 function name should be lowercase
    N803 argument name should be lowercase
    N806 variable in function should be lowercase

Other issues may be addressed:
    F401 '<something>' imported but unused
    F403 'from <some_lib> import *' used; unable to detect undefined names

To check all of this:
    flake8 --ignore=N802,N803,N806 --max-line-length=119 <root_folder>

Other things changed:
    - import order (thanks isort)
    - useless elif changed to if
    - useless else removed
    - usage of ValueError, when an argument does not fit the expected type / size
    - issubclass(x.__class__, X) / x.__class__ == X → isinstance(x, X)
    - isinstance accepts a list or a tuple of classes (eg: isinstance(x, (int, float)))
    - print "" → print

[Python] Update methods and RobotWrapper to use buildGeom instead of buildModelAndGeom and to use a list of package dirs instead of one meshRootDir.If no package_dirs is given by the user, then it will call the C++ procedure that automatically parse the ROS_PACKAGE_PATH

Use the name for all the algo related to centerOfMass computations. All
of them now return the center of mass position of the whole rigid body
system. Add also to compute only the position and velocity of the CoM

Explicitly overload buildModel functions to get the same name in the
exposure of functions.
Change of API: buildModelFromUrdfWithRoot and
buildModelAndGeomFromUrdfWithRoot are now replaced by their counterpart.

[Major][C++][Python]Breaking retrocompatibilty. Added the possibility to choose root joint when creating a model (in C++) or a robot (in Python). May be a check can be done on the value of root parameter in python if it's not None

[Major][Python] Fixing function se3ToXYZQUAT. Change method display in robot_wrapper according to this fix

Add attributes in model.hpp
	- names of fixed body
	- indexes of their closer movable parent
	- visuals booleans
	- number of fixed body
modify display method in robot_wrapper
	- compute and send the absolute placement from relative to the closer movable parent

[Python][Major] Integrated modifications in Gepetto viewer that reference a window by id instead of string

Python: Modifies robot wrapper to adpat it to gepetto viewer, moved the code specific to romeo in a new dedicated romeo wrapper module, add the installation on the new file in CMake.
[Partial cherry pick from 1aefa7f6,7feba3,36b5d7,b87a2b53 and 153e832]