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]

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