Only URDF module is ON by default

Revert "[CI] work with hpp-fcl v1, which is not yet in the binary repository"

Fix typo in frameJacobian: jointId -> frameId

This reverts commit eb73311a, because
hpp-fcl v1 is in the binary respository now.

[computeSubtreeMasses] Fix bug for data.mass[0]

[com] computeSubtreeMasses + CoM bindings

Add serialization of Model and related quantities

typically 14.04

The size of the Eigen::Matrix should be checked first