Synchronize cmake submodule.
added compute volume function draft
computeVolume: return two points for each capsule attached to the robot: (1) the
center of the top disk of the cylinder enclosed by the capsule, and (2) the
center of the bottom disk. Additionally, for each point we return the radius of
the hemisphere attached to the cylinder, and the length of the cylinder.
computation of the projection jacobian from the convex hull capsules
Merge branch 'irreducible-volume-project'