User Force Estimation Support

Description

This merge request contains the majority of BurtSharp development done for the User Force Estimation (UFE) project. These changes were already reviewed as they were merged in the protected branch named devel-ufe. Code reviews were performed with the following merge requests for the devel-ufe branch: !393 (merged), !392 (merged), !391 (merged), !389 (merged), !388 (merged), !387 (merged), !386 (merged), !385 (merged), !384 (merged), !383 (merged), !382 (merged), !381 (merged), !380 (merged), !379 (merged), !377 (merged), !375 (merged), !374 (merged), !373 (merged), !372 (merged), !369 (merged), !368 (merged), !367 (merged).