Improved initialisation that takes into account the initial position of feet and the initial height of the base based on q_init

Add logging + Rework control architecture (nothing feedbacks from the WBC, everything is taken from the estimated state)

Changing data going from MPC to WBC + Integration of reference velocity to get reference position (starting at 0 0) + Testing different kinds of feedback for the control loop

Insert new Planner object into control loop + Take into account the next state reference of the MPC + Possibility to test different kinds of feedback in the loop

Integration of the new blocks in the main loop to run on the real robot or in simulation + In openloop for now

PyBullet simulation is now hidden in a wrapper that mimics the interface we have when using the real robot, new classes and functions