Quick start example

We strongly advice the interested user to have a look to the test suite. Currently the models are generated from URDF files. We have not yet stabilized the underlying structure (and honestly we are not sure yet when this will happen), so we prefer to keep the freedom of changing it, as long as it is consistent with URDF parsing.

This might be inconvenient for someone with a fix robot architecture, but the main maintainers of this library are dealing with various models of the same robot.