update readme

freezed_robot function refactored

Adapt to refactoring of simulators

MPC working with pybullet thanks to change in urdf + higher state reg

Add config file for basic croco params when using C++ API + move simulators to the unified_simulators project

Merge branch 'master' of github.com:MedericFourmy/hello_crocoddyl

Better organise test_run_simulator function

Make copy of model when creating the ocp pbe just in case. Anyway, we are sure that armature is not the cause of the failure of pybullet+mpc

Make copu of model when creating the ocp pbe just in case. Anyway, we are sure that armature is not the cause of the failure of pybullet+mpc

Fix silly pinocchio sim bug, both simulations are now coherent

remove goal ref from config and implement a set reference function in C++ class

MPC keyframes display, still problem with pybullet simulation

Implemented a pinocchio based simulator class + added exterior force option to both simulators

Use pybullet as a simulator

Small wrapper class for pybullet simulation