Whole-body-controllers release 2.5.2

[gabrielenava]

RELEASE DATE: TBD

This issue is a tracker for the new WBC release 2.5.2.

Issues involved in the new release (list will be updated in the future):

- [ ] Fix bug in fromTransfMatrixToPosQuat
- [ ] Add KPI logic to evaluate performance and robustness of controllers
- [ ] Change the name of the repo

• Added Momentum Based Velocity control as a new WBC Simulink library
• Update documentation for release 2.5.2
  - [ ] Understand how to create standalone Simulink applications
  - [ ] Implement a block to check if the measured forces violate the contact constraints
  - [ ] Implement github actions
• Migrate the jerk control in whole-body-controllers
  - [ ] Simplify the simulation pipeline
  - [ ] Import functions and remove deprecated in the WBC library
• Improve the Simulink-balancing-simulator
  - [ ] Create the controllers library with its first block: the YOGA++ controller
  - [ ] Create a library of controller blocks out of the multiple models in this repo and integrate them in those models

[nunoguedelha]

Reopened since there is still the documentation to update.

[gabrielenava]

I modified the issue title and description so that the issue can be closed. #90 will be added in a new dedicated issue that triggers the release 3.0