Adapted both the urdf parser and the romeo model to enable romeo inside pinocchio. CAUTION: Romeo is not standard any more and should be corrected, by enabling fixed joint in the urdf parser.

Warning remaining at compilation of CRBA.
Timings:
nq = 36
RNEA = 		4.79756 us
CRBA = 		5.50824 us
Cholesky = 	2.40469 us
Jacobian = 	3.68493 us
COM+Jcom = 	4.024 us

Added local jacobian in jacobian.hpp. Toal timings for simple-human: 1.9us for computation, 0.01 for copy,  0.3us for transform.