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python/serialization: change header inclusions

fix PR #743

[unittest] [python] Fixes to Python unit tests

Improve support and check of Optional dependencies

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