[adm-ctrl] Add filtered version of force sensor signals for proportional control. Add force integral dead-zone. Use Jacobian transpose by default.

[python] Replace Savistsky-Golay filters with Chebishev low-pass filters for all sensors (except current)

[imu-offset-compensation] Save IMU offset on file, and try to read it at start, so that we do not need to recalibrate it every time.

[base-estimator] Fix a couple of bugs in estimation of base velocity and update of foot position during single-support phases

[common] Fix bug in conversion of velocities from SoT to urdf format (base velocity is expressed in local frame in Pinocchio). Add output signals for foot vel/acc.

Conflicts:
	scripts/python_commands.txt

[base-estimator] add LP filter on weighting functions; add stability detection of kinematic sources from normal force history

[nd-traj-gen] Small change to behavior of setSpline command when called with a positive trajectory time

[balance-ctrl] Set reference forces in force regularization task. Set min and max contact forces at each time step.

[nd-trajectory-generator] create setSpline to initialize spline. add trigger to play splines together.
create entity for trajectory synchronization