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

[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.