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Dev [cpp] add urdf parser, se3::Model and se3::Data members

Merged Dev [cpp] add urdf parser, se3::Model and se3::Data members
thomasfla:dev into dev
Merged Guilhem Saurel requested to merge thomasfla:dev into dev

Created by: thomasfla

add urdf parsing, se3::Model and se3::Data members add parsing, access and display tests in dev_test.cpp

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