Move some features into Pinocchio

[ManifoldFR]

After discussion, we will be merging some of the features here into Pinocchio 3's visualize module. Ideally, that will deprecate this repo.
The relevant PR is here: https://gitlab.inria.fr/jucarpen/pinocchio/-/merge_requests/574

This would add some features also found in RoboMeshcat: https://github.com/petrikvladimir/RoboMeshCat
Adding the tree-based management of instantiated objects and primitives (planes, boxes, cylinders...)

@EtienneAr
@petrikvladimir