Port seesaw, standup and walkman on master + fix bugs, outdated files and doc

[gabrielenava]

As pointed out in https://github.com/robotology-playground/WBI-Toolbox-controllers/issues/58, it is not necessary to have such a big number of branches in this repo. In particular:

• substituted iCub on a seesaw controller with a new one, and moved the old one in legacy

• added Walkman configuration files to torqueBalancing, Neither the Simulink model or iCub-related scripts have been modified.

• updated the documentation of the repo (see also https://github.com/robotology-playground/WBI-Toolbox-controllers/issues/57)

• moved completeForceControlScripts in legacy

• forked this repo in my account, so that we can safely remove seesaw and walkman branches.

[gabrielenava]

Ready for merging into master.

What has been done:

• moved new seesaw controller in place of the old one, and old seesaw controller in the legacy folder

• moved icub standup controller in torqueBalancingStandup folder

• moved icubStandup_4Contact in legacy. It has never been used. If one day we will decide to investigate the 4 contact control we can always recover it

• moved walkman configuration files in torqueBalancing (no calibration procedure, I will move that part in the element_walkman repo)

• moved completeForceControlScripts in legacy

• removed outdated config files for not supported robots (e.g. iCubGenova01).

• fixed ImpedanceControl2012b (see https://github.com/robotology-playground/WBI-Toolbox-controllers/issues/64)

• fixed a bug in the integral of momentum error calculation

• fixed an error on missing connection (head state port)

• updated documentation of the repo

Please note that now also in simulation is required to run wholeBodyDynamics instead of the outdated wholeBodyDynamicsTree as explained here.

I didn't do any modification on boundedTorqueControl folder.

[gabrielenava]

cc: @DanielePucci @pi-q @S-Dafarra @francesco-romano @Yeshasvitvs if everything is ok I'm going to merge this in master and remove branches seesaw, walkman, icub_standUp, icub_standUp_4Contact (in any case, I forked this repo as it is now so I have a backup).