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Make multibody optional #94

@dtbpkmte

Description

@dtbpkmte

Is your feature request related to a problem? Please describe.
Currently Model is a hard component of a Robot, with pinocchio as the only implementation. This effectively makes pinocchio a hard dependency - the code won't compile without pinocchio.

Describe the solution you'd like
Make Model optional.

Describe alternatives you've considered
None.

Additional context
None.

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