Merge branch 'main' of https://github.com/WangKeAlchemist/Reduced_order_model_crocoddyl into main

replace quaternion with rpy to rotation matrix using pinocchio.utils.rpyToMatrix() and remove unused code in util.py

Update README.md

remove unused functions in the python/util.py and tested the code example/talos_walk.py

change euler angle representation with quaternion representation, add generate quaternion from euler angle function and generate rotation matrix from quaternion function. Also add cmake/ in the .gitignore

[core] Moved the example script to examples/talos_walk.py

[core] Created a Python library with the name "vhip"

[core] Hide AsymmetricCone implementation

[cleanup] Formatted the code with "yapf -ri ."

[cone] Improved efficiency of asymmetric friction cone

[cone] Created the asymmetric friction cone

[friction] Created the data for the friction-cone residual

[core] These bits are important for Crocoddyl compatibility with latest devel branch

[action] Improved the efficiency by removing unnecessary data set

Merge pull request #1 from WangKeAlchemist/devel_c++