to fix build with -DBUILD_WITH_URDF_SUPPORT=OFF

The precision should be lowered with Pinocchio 3x

* Allow to use std::shared_ptr for hpp-fcl >= 2.0.0

* all: fix usage of make_shared

Co-authored-by: Justin Carpentier <justin.carpentier@inria.fr>

multibody/model: add helper functions to get hasConfigurationLimit and hasConfigurationLimitInTangent for a model

- cannot check for mesh path anymore
Now we have
~/pinocchio/models/./simple_humanoid_description/box.stl
instead of
~/pinocchio/models/simple_humanoid_description/box.stl
which is not a problem for loading the mesh.
- check if name of mesh is the same