Pull ER Force Physics Simulator from master

[nycrat]

Description of the task

Our codebase currently uses an old fork of ER Force's simulator from https://github.com/robotics-erlangen/framework. We want to update our fork to be closer to master, since many bugfixes and improvements have been made to their simulator since we've forked it.

Acceptance criteria

• Pull new code from https://github.com/robotics-erlangen/framework
• Remove the unrelated non-simulator code
• Update the CMake files to bazel
• Update our er_force_simulator.cpp and er_force_simulator_main.cpp code accordingly
• Make sure simulated tests still work

Blocked By

N/A