get F/T from tsid solution and torques from RobotModel

[dalinel]

Now we can use force_torque_from_solution to get the contact F/T from tsid solution

We can use compute_rnea_double_support to get the joint torques of the RobotModel

Both functions add the possibility to deal with the foot mass that is not included in the F/T sensor data located at the ankle level

[dalinel]

It should be ok to merge now