Contact dynamics: Set Baumgarte corrector parameters to be vectors

See merge request jucarpen/pinocchio!579

bindings/python: add python cmake module to listfile

...of constrained-dynamics.hpp into itself

+ now supports different values per axis for Kp/Kd

fix camera zoom in meshcat visualizer

See merge request jucarpen/pinocchio!578

[algorithm] Add cast() function to BaumgarteCorrectorParameters

See merge request jucarpen/pinocchio!577

...BaumgarteCorrectorParameters, RigidConstraintModel, RigidConstraintData

+ utilize new cast() for "corrector" member of RigidConstraintModel