New yaml for the simulation test

test/yaml/problem_force_torque_inertial_dynamics_simulation_test.yaml

+config:
+  problem:
+    frame_structure: "POVL"
+    dimension: 3
+    prior:
+      mode: "factor"
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]
+        V: [0,0,0]
+        L: [0,0,0]
+      $sigma:
+        P: [0.31, 0.31, 0.31]
+        O: [0.31, 0.31, 0.31]
+        V: [100,100,100]
+        L: [100,100,100]
+      time_tolerance: 0.01
+    tree_manager: 
+      type: "TreeManagerSlidingWindow"
+      plugin: "core"
+      n_frames: 1000
+      n_fix_first_frames: 0
+      viral_remove_empty_parent: true
+  map:
+    type: "MapBase"
+    plugin: "core"
+  sensors:
+   -
+    name: "sensor FTI"
+    type: "SensorForceTorqueInertial"
+    plugin: "bodydynamics"
+    extrinsic:
+      pose: [0,0,0, 0,0,0,1]
+    
+    # IMU
+    acc_noise_std:                0.001      # std dev of acc noise in m/s2
+    gyro_noise_std:               0.001      # std dev of gyro noise in rad/s
+    acc_drift_std:                0.0001     # std dev of acc drift m/s2/sqrt(s)
+    gyro_drift_std:               0.0001     # std dev of gyro drift rad/s/sqrt(s)
+    
+    #FT
+    force_noise_std:              0.001         # std dev of force noise in N 
+    torque_noise_std:             0.0001       # std dev of torque noise in N/m
+    
+    # Dynamics
+    com:                          [0,0,0.0341]                      # center of mass [m]
+    inertia:                      [0.017598,0.017957,0.029599]      # moments of inertia i_xx, i_yy, i_zz [kg m2]
+    mass:                         1.952                             # mass [kg]
+
+  processors:
+   -
+    name: "proc FTID"
+    type: "ProcessorForceTorqueInertialDynamics"
+    sensor_name: "sensor FTI"
+    plugin: "bodydynamics"
+    time_tolerance: 0.01
+    apply_loss_function: false
+    unmeasured_perturbation_std: 0.001
+    state_getter: true
+    state_priority: 1
+    # n_propellers: 6
+    keyframe_vote:
+      voting_active:    true
+      max_time_span:    0.0995 # De moment el que funciona millor és 1 s o 2s
+      max_buff_length:  999   # motion deltas
+      dist_traveled:    999   # meters
+      angle_turned:     999   # radians (1 rad approx 57 deg, approx 60 deg)