Add missing evaluation of the Frame Forward Kinematics

[bindings][robot_wrapper] add framePosition

Add frame{Velocity,Acceleration} methods to robot_wrapper.

Currently only jointAccelerations are supported

Handle external forces in ABA

[unittest][aba] check aba with external force
[bindings][aba] create binding for aba with ext force

[Documentation] Turn off verbosity.

Update container aligned_vector 

Fix bug in distance computation

Fix bug related to joint Spherical