Fsm refactor

[wdc3iii]

Refactored the Unitree FSM with several improvements, including

• Update UnitreeSDK2 to most recent release version.
• Implemented button layers, customizable FSM buttons, and joystick passthrough on the unitree joystick.
• Implemented motor logging
• Fixed humanoid example executable (sim xml files were old).
• Enters the low level control by default, and only allows high -> low transition.
• Changed 'user pose' setup to match other publishing/subscription styles, in terms of joint names.
• Allowed programmatic discovery of the network interface, give a known IP address.

[Zolkin1]

Overall looks good. just a few questions

[Zolkin1]

lgtm. just remove the two parts in the comments then feel free to merge.