[python] in prologue, read robot model from ros parameter.

[florent-lamiraux]

• build reduced model by detecting and removing mimic joints,
• checked by comparing Jcom on initial configuration for both methods, difference is below 1e-17.

Requires https://gepgitlab.laas.fr/pyrene-dev/talos_data/merge_requests/8 and https://github.com/stack-of-tasks/talos_metapkg_ros_control_sot/pull/5.

[florent-lamiraux]

Successfully checked through geometric_simu.

[olivier-stasse]

Thanks for the nice contribution.