almost done transplanting scipy forward sim

...s/regrasping/crocoddyl/pendulum/fwd_sim_pendulum_scipy.py

...grasping/crocoddyl/pendulum/multibody_with_lugre_state.py

...es/regrasping/crocoddyl/pendulum/pendulum_croco_models.py

...sping/crocoddyl/pendulum/pendulum_friction_computation.py

examples/regrasping/crocoddyl/pendulum/pendulum_regrasp.py

examples/regrasping/crocoddyl/pendulum/utils.py

...s/regrasping/crocoddyl/planar_object/friction/friction.py

...asping/crocoddyl/planar_object/friction/friction_utils.py

examples/regrasping/crocoddyl/planar_object/fwd_sim_scipy.py

...crocoddyl/planar_object/gripper_and_object_croco_model.py

examples/regrasping/crocoddyl/planar_object/pin_models.py

examples/regrasping/crocoddyl/planar_object/regrasp.py

examples/regrasping/crocoddyl/utils.py