Adding inverse kinematic controller

[CarlottaSartore]

This PR include the inverse kinematic controller and the related example to make the robot walk, in position control, using bipedal locomotion inverse kinematic, centroidal MPC and mujoco simulator.
It depends on bipedal locomotion framework version 0.16

[CarlottaSartore]

This PR is still a draft, because we need to understand how to automatically add tag to the contacts in mujoco for the feet rear and front.

[CarlottaSartore]

This PR is still a draft, because we need to understand how to automatically add tag to the contacts in mujoco for the feet rear and front.

This has been solved in 25ada23 , but there are still some issues in the computation of the wrenches that I want to furtherly investigate before resolving the draft status

[CarlottaSartore]

I have decided to add in a future a PR solely for the examples. thus now this PR is ready for review.

The problem with the wrenches has been solved.
In addition we have added:

• Automatic load of meshes
• Automatic mapping in between input joint name list and mujoco order

[traversaro]

Minor comments.

[S-Dafarra]

Nit. kinematic is and adjective, while kinematics is a noun. In this case I think it should be InverseKinematics

[S-Dafarra]

Some initial comments on the notebook

[CarlottaSartore]

@S-Dafarra I think I resolve all your comments, let me know if there is something I have missed

[CarlottaSartore]

Thanks all ! Merging !