Update to be able to load urdf model

 * Add buildModelUrdf function dedicated to the load
 * Add setUrdfDirectory and setUrdfMainfile to be able to set urdf file name
 * Add python bindings
[cmake] Synchronize.
Add missing dependency in jrl-dynamics-urdf
Correct walking.py to handle creation from urdf.
Use a generic way to define the postureTaskDofs.
Add the possibility to define the sole size for pg urdf.
Restore feetconstraints and add the sole parameters for urdf.
More generic way to realize addPgToUrdfRobot.
Remove unused method initPostureTask2.
Remove deprecated method.
Use loadUrdf rather than loadFromParameterServer.
Remove useless debug information