Provide python bindings

I think it would be nice to add the python bindings for the code stored in this library. I think it can be a good first issue if someone wants to get in touch with `pybind11`.

lie-group-controller implements the CRTP pattern, one may find the implementation a bit obscure. Do not worry! You can follow the bindings implementation provided by `manif` in https://github.com/artivis/manif/tree/a4ba3df4f793fdce37c98b2cf9778321f9cea7c9/python

If someone is willing to start this activity I can give an hand 😃

cc @Giulero

Start by reviewing the existing Python bindings in manif at the linked python directory, then compare its approach with the header-only C++ library and its CRTP-based implementation. Use pybind11 to define the required bindings; done means the library's functionality is accessible from Python, with the exposed scope and verification agreed with the maintainer.

Written by the indexing model from the issue text.