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

Now it sufficient to make python to compile the Python bindings

Add missing evaluation of the Frame Forward Kinematics