Implement create_tsid utility function for the python bindings

[GiulioRomualdi]

This PR introduces the create_tsid method for the python bindings. The method can be used to easily create a tsid problem by just reading a configuration file.
For instance the following configuration file

tasks = ["COM_TASK", "LF_TASK"]
[TSID]
robot_acceleration_variable_name = "robot_acceleration"
joint_torques_variable_name = "joint_torques"
contact_wrench_variables_name = ["lf_wrench", "rf_wrench"]

[VARIABLES]
variables_name = ["robot_acceleration", "joint_torques", "lf_wrench", "rf_wrench"]
variables_size = [29, 23, 6, 6]
# the following parameter is optional and it can be used to give a name to each element of a specific variable
lf_wrench_elements_name = ["fx", "fy", "fz", "tx", "ty", "tz"]

[COM_TASK]
name = "com"
type = "CoMTask"
priority = 1
weight = [10.0, 10.0, 10.0]
# The following parameters are required by the specific task
robot_acceleration_variable_name = "robot_acceleration"
kp_linear = 10.0
kd_linear = 2.0

[LF_TASK]
name = "left_foot"
type = "SE3Task"
priority = 0
# The following parameters are required by the specific task
robot_acceleration_variable_name = "robot_acceleration"
frame_name = "left_sole_link"
kp_linear = 10.0
kd_linear = 2.0
kp_angular = 10.0
kd_angular = 2.0

can be used to create a tsid problem with two tasks, namely a com and a se3 tasks

The function will return a tuple containing the solver, the dictionary of the tasks, and the variables handler