Add support for running the simulation with pixi, optionally with the ma97 linear solver

[traversaro]

This PR adds support for running the simulation with pixi. The main advantage that by using pixi we can provide to the user the possibility of providing its own coinhsl-2023.11.17.zip archive file, and compile it on the fly to use it, without the need for us to distribute anything.

The dependencies used in the pixi.toml have been loaded from the existing environment.yml file with pixi init . --import environment.yml

I tried to use a world with RTF 1, but the controller was stopping, probably as some thread was taking too much time. This can be improved by adding some kind of co-simulation between the simulator and the controller when running on simulation, but anyhow that is orthogonal from the point of this PR.

[traversaro]

For the review, I would suggest to try to follow the README on the pixi part, and try to reproduce the instructions locally (it should be relatively easy to do so).