Merge changes in actuation, contact force residual and fix on force derivative for 6d contact loop

[msabbah06]

• Actuation data now requires pinocchio data as input in create data, in order to make actuation model rely on pinocchio calculation
• Contact force residual now has a new constructor for contact 6d loop where it takes now the name of the contact and no more a frame id (since for a loop several frames are involved)
• Derivatives of contact force for contact loop 6D lacks a minus to be consistent with the definition of the force in the contact

[LudovicDeMatteis]

I think this PR should be spitted in several ones:

• The fix on the force derivative should definitely be merged to this branch.
• Changes on the actuation should be a totally different PR (as it is a different topic and should first be discussed with Nicolas or Carlos)
• Changes on the contact force residual could go in this PR

[LudovicDeMatteis]

The branch as conflict that prevent merging, you should clean the work tree (by rebasing and/or cherrypicking the correct commits)

[LudovicDeMatteis]

@msabbah06 I cherrypicked the fixed on update force to include it in the PR here

[msabbah06]

@LudovicDeMatteis I normally should have cleaned the working tree. Let me know if I did something wrong