[C++][Python][Major] Replaced the way collisions and visuals are stored in GeometryModel. Now it is two lists of GeometryObject (one for collisions, one for visuals) aggregating information instead of multiple vectors. Now handle multiple collisions/visuals for one link when parsing urdf file and keep track of the mesh absolute path. Changed binding accordingly.

Rework Joint Unit Tests and fixe bugs.

[C++][FixBug][Unittest] Fix bug in calc_aba (bug with boost:fusion preventing a proper acces to jmodel.axis) + reworked unittest for joint prismatic unaligned

[C++][FixBug][Unittest] Reworked unittests for joint revolute unaligned + Fix bug in calc_aba (bug with boost:fusion preventing a proper acces to jmodel.axis)

Rework joints and algo

Rework joint free flyer and joint spherical to avoid useless allocations

Rework project

I don’k know why, but the default Eigen ProductReturnType produces
evaluation error. Maybe, because of destruction of the M matrix before
the evaluation.