This bug is appearing with Eigen3 >= 3.3.4.
The scalar product return type does not have an Options which is required by exp3.

- remove leftidx package, not available in MathJbx
- replace `\leftidx{^` by `{}^{`
- fix param lists
- comment documentation of commented code
- replace `<i>` & `<li>` with `*i*` & `*li*`, that are valid in html & md

Python 3

[Python] Fix RobotWrapper initDisplay and q0

  Now:
    - initDisplay just create a window and a scene which is automatically
  added to the window
    - loadDisplayModel create a group node for the robot and load visual
  geometries

Topic/aba