Add accepts_commands to API

This release adds "accepts_commands" to the whole body state, allowing the user to delay sending commands till the whole body controller is ready.

OCS2 messages

This release adds messages for the new OCS2 MPC interface (Internal use)

Passivity layer

This release add support for the passivity layer and virtual inertia

HandCommand

This release adds the HandCommand to support Robotiq and QB Robotics hands.

Added support for the passivity layer

This release adds support for implementing a passivity layer on Eve

Added measured and desired effort to JointMeasurement

Merge pull request #2 from Halodi/develop

Added desired and measured to the JointMeasurement interface