Dev

[Major] Now handle prismatic joint when parsing urdf. Only cartesion X,Y or Z are accepted, unaligned axis bring crash

[Major] Correction of bugs in JointRevoluteUnaligned and its unittest. The urdf parser nows takes into account this joint. Added a new enum in cartesian axis

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

[Python][Major] Corrected wrapper to CRBA to have  symmetric M, added missing types to access data wrapper, added operator in motion.

[Python] Added xyzquatToSe3 and modified rpyToSO3 to accept matrix instead of tupple as input (impact is marginal, but the modif was necessary to properly parse Maximilien input data).

Conflicts:
	src/multibody/model.hpp
	src/multibody/parser/urdf.hpp