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.
More generic way to realize addPgToUrdfRobot.
Remove unused method initPostureTask2.
Remove deprecated method.
Use loadUrdf rather than loadFromParameterServer.
Remove hard coded joint mapping in pg configuration
Make URDF or VRML use transparent for the user (if a urdf file has been specified it will be used otherwise the vrml option will be used)
Factorize pg initialisation code (initPg fonction creation)
Add dependency in jrl_dynamics_urdf.
No clang.