May need some change according to the current version of the
architecture

[Python] Binding the different joint models. The exposure is done through the variant. In joints-models, you can specialise the binding for any jointModel you want.

  * Implement exp3, exp6, log3, and log6 functions by copying
    implementation from explog.py.
  * Add same documentation as in explog.py.

[Major][C++] Added Joint limits to joint model and to Pinocchio Data. Also added an algorithm to compute joint limits. Based on the model of the limits, it computes and store the actual limits in Data. We then have access to the values in Data in python binding. The algorithm is here in future cases where the limits will not only be static but dependent of the configuration

Python: Modifies robot wrapper to adpat it to gepetto viewer, moved the code specific to romeo in a new dedicated romeo wrapper module, add the installation on the new file in CMake.
[Partial cherry pick from 1aefa7f6,7feba3,36b5d7,b87a2b53 and 153e832]