Fix CI + sync submodule cmake

Add util to expose optional types

Co-authored-by: Justin Carpentier <justin.carpentier@inria.fr>

for more information, see https://pre-commit.ci

+ unittest: make bind_optional and test_optional.py into template files
+ cmake: instantiate boost and std optional tests using configure_file

+ default is boost::optional<T>
+ add test for boost::optional

[pre-commit.ci] pre-commit autoupdate

updates:
- [github.com/psf/black: 23.1.0 → 23.3.0](https://github.com/psf/black/compare/23.1.0...23.3.0)

fix INSTALL_RPATH on ROS & OSX

ref. https://github.com/stack-of-tasks/eigenpy/issues/353
ref. https://github.com/jrl-umi3218/jrl-cmakemodules/pull/588

Sync submodule cmake

CMake: have python stubs target depend on pywrap target

[pre-commit.ci] pre-commit autoupdate

updates:
- [github.com/pre-commit/mirrors-clang-format: v15.0.7 → v16.0.0](https://github.com/pre-commit/mirrors-clang-format/compare/v15.0.7...v16.0.0)

Tests: add user-struct test

+ create struct with fixed-size members, expose with setter

Enable scalar template specialization

Add full support of Eigen::Tensor

This solution should be unified when MSVC compiler will behave properly