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Added the same setting used in Crocoddyl manuscript + added building option for examples + fixed problem with building benchmarks

This PR tackles the issues reported in #249 (closed), #244 (closed) and #248 (closed). Now we can run make commands for examples with and without display option, e.g.

make examples-quadrupedal-gaits


make examples-quadrupedal-gaits-display

fyi: @gsaurel and @wxmerkt

Edited by Carlos Mastalli

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