Use the 'convex' primitive from hpp-fcl for the ROM

The new type fcl::GEOM_CONVEX should be used for the ROM as it allow to test for inclusion of an object inside the ROM.

Two steps are required for this:

Update the ROMs urdf in all robot packages : this following block should be added after all geometry/collision declaration:
```
<collision_checking>
  <convex name="$NAME"/>
</collision_checking>
```
See https://github.com/stack-of-tasks/pinocchio/blob/master/models/simple_humanoid.urdf#L20-L30
Update the code in rbprm (mainly in the shooter and in algorithm) to work with other type than the current fcl::BV_OBBRSS), related to https://github.com/humanoid-path-planner/hpp-rbprm/issues/58 See first draft in https://github.com/pFernbach/hpp-rbprm/commit/b066f37aef172530520756d599d71c3615f7afeb

humanoid-path-planner / hpp-rbprm