Simplify CMake

Guilhem Saurel requested to merge github/fork/gabrielebndn/master into master

Created by: gabrielebndn

Simplifies CMakeLists.txt using pinocchio's cmake export and removing the submodule. Also, I removed the include and src subdirectories, as they were useless as far as the example value is concerned, and added build instructions. This repo is extremely simple now, I wonder whether it is still useful.

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