Fix Hyq srdf (disable collision pairs)

And activate tests again

add talos full

to avoid a dependency to https://github.com/stack-of-tasks/talos-data/
in many packages

[Python] add more paths to getModelPath, fix #37

and document their purpose

 [Python] add a load helper, and use it in main & tests

Which lead to find that double pendulum, hector and iris were not
tested.

Writing a test for hector raise:
> IOError: hector_description/robots/quadroto_base.urdf not found

Which lead to find that __main__ was missing the variations of icub &
ur5

Gathering all expected available robots and parameters in one dict
indexed by names avoid the need to duplicate those informations.

In the previous version, changing NQ / NV, wouldn't change the test
results.

Also, we had a test checking that talos arm had a free flyer,
and another test checking that talos arm didn't had a free flyer.
Both were passing.

[Python] Add (and use) a robot_loader function

[solo] disable collision pairs for adjacent links

when it was useless otherwise

With trivial factorizations,
to avoid code duplication and ease future robot addition.

While here:
- deprecate `loadTalosLegs()` for the factorized `loadTalos(legs=True)`
- use cleaner `os.path.join()` for file path manipulation instead of
  string concatenation

which is the standard way of using pinocchio, according to its examples
and unittests.

Fix windows issues

sync submodule