Change task-point-equality to work in world frame. This also makes the contact-6d work in world coordinages

This happened as the m_forceInequality was declared one entry too small. This caused the cl->forceConstraint in *acc-force.cpp to be too small as well and then ignore the last row. The last row defines the bound on the normal force min/max value.

This patch fixes the bug. It also adds extra assertions in the constraint-base to avoid these sort of bugs.

Pull request for use TSID in python.

Add missing includes, fix #18

[CI] add .gitlab-ci.yml & badges

Simplify cmake files