fix reshape issues

Co-authored-by: Joseph Mirabel <josephmirabel@gmail.com>

Add RVizVisualizer

fix module name

Fix issue with Pool when FCL is missing

Notably when FCL is not considered

ci: update ROS CI

[visualize] captureImage() method

[CMake] set INSTALL_RPATH for python on linux

Co-authored-by: Wolfgang Merkt <wxmerkt@users.noreply.github.com>

from Crocoddyl ROS CI

To avoid the need to set `LD_LIBRARY_PATH` when the
`CMAKE_INSTALL_PREFIX` is not a standard one.

* implemented for MeshcatVisualizer
* also add `capture` option for play() method

Change 'typedef' to 'using', add curly braces

Co-authored-by: Justin Carpentier <justin.carpentier@inria.fr>

Compilation issues with recent version of Boost

Fix bug in Centroidal derivatives

meshcat: fix loading of BVH model