[Python] Rename file into joint-derived.hpp to correspond to the type it exposes. i.e it does the exposition for each derived joint model ( that are in the joint model variant

[C++][Python][Major] Replaced the way collisions and visuals are stored in GeometryModel. Now it is two lists of GeometryObject (one for collisions, one for visuals) aggregating information instead of multiple vectors. Now handle multiple collisions/visuals for one link when parsing urdf file and keep track of the mesh absolute path. Changed binding accordingly.

[C++][Python][parser] Added operational_frames in Model as a vector of Frame {name, parent id, placementWrtParentJoint} and exposed it in python. When parsing a fixed joint, a frame is added to the model with the name of the fixed joint

[C++][Python][parser] Added extra_frames in Model as a vector of Frame {name, parent id, placementWrtParentJoint} and exposed it in python. When parsing a fixed joint, a frame is added to the model with the name of the fixed joint

[CMake][Python] Exposed GeometryModel and GeometryData in python. Little reworked of the headers_variables in the cmakelists

[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.

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