[C++][Python][parser] Added operational_frames in Model as a vector of Frame {name, parent id, placementWrtParentJoint} and exposed it in python. When parsing a fixed joint, a frame is added to the model with the name of the fixed joint

By default, one can now build the benchmarks from make timings. They
are build along with the lib if BUILD_BENCHMARK is set to ON.

Continue python integration of geometry methods and algo

Follows the standard of computeDistance

Choose an explicit name to describe what the algorithm effectively does

Properly handle the geometry data struct

Same as Model and Data

Throw exception when parsing meshes instead of runtime error