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[CMake] use PYTHON_INSTALL_ON_SITE

Guilhem Saurel requested to merge gsaurel/example-robot-data:devel into devel

PYTHON_INSTALL_ON_SITE does the PYTHON_BUILD and the INSTALL in an unified way, but they require to have the same arguments. Then, we have to put the CMakeLists in a parent folder of the module, as python, or bindings/python.

This follows discussions in https://github.com/jrl-umi3218/jrl-cmakemodules/issues/136

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