add new dependencies

[pierfabre]

closes #91

pin : rigid body dynamics
crocoddyl : optimal control
panda3d-viewer : urdf viewer
cmeel-mim-solvers : SQP solver
onshape-to-robot : cad to urdf

[Armandpl]

• those new dependencies should be part of dev/extra dependencies, users should be able to install the package from pypi and only get the bare minimum to use the robot. we could split them further into base,rl,controls etc but for now two groups will do
• panda3d viewer doesn't look well maintained can we find something better? not turbo important but would be nice
• we want to switch to uv instead of poetry, as its way faster and has features we want e.g subprojects. don't need to switch now