Reswitch to old estimator values + Put back things that should not have been cleaned + Try fixing gepetto viewer

Add contact force limitation when a contact is activated to avoid directly applying a huge force (ramp shape for the limit)

Add actuators position and velocity update in SendCommand to handle case in which PyBullet simulator is run faster than the control loop

Take into account lever arm of IMU when generating IMU acceleration in simulation to mimic what we have on real robot

Add possibility to use a Kalman filter instead of a complementary filter (still need tuning) + Rework complementary filter to take into account the lever arm between the center of the base and the IMU