Update the impulse dynamics with damping factor (waiting Pinocchio release)

I proposed to include the damping factor in the Cholesky decomposition performed for the impulse dynamics (https://github.com/stack-of-tasks/pinocchio/issues/875).

This issue have been solved in Pinocchio, however we need to wait for the next release. This is important for the numerical performance of jumping examples, one of the limiting factor to include all of them.