I don't know why, but for some old compiler, they cannot guess right template arguments.
Should be fixed later.

This fix a bug in 16.10 and later with compiling issues

This fix a bug related to recent versions of GCC under 16.10 and more

Fix access to boost::variant::extract in model.hpp and parsers.hpp.

It replaces the old way to access this frame through a boolean
templated parameter

It now only returns the Jacobian of the FRAME expressed in the local
coordinate frame of the FRAME itself.

Handle capsules and cylinders in a cleaner way.

Clean code + add normalize method inside Lie Groups

Fix several issues + add target python