Release WBC 3.0

[gabrielenava]

Given the recent revival of whole body controllers by @DanielePucci, I thought it was worth to spend some time for a small cleanup/update of the repo. We can release this update as version 3.0, even if I am not planning to perform any major change.

What I am planning to do:

• check the documentation of the repo; fixed broken links, modify procedures that are not valid anymore;
• uniform the style of the WBC MATLAB library;
• remove IMU ports when possible, and/or warn the user that IMU data cannot be retrieved anymore using the YARP read block;
• update the IMU frame name;
• add a github action to verify the integrity of the repo installation, at least on Ubuntu;
• verify that all models are running correctly, at least on Ubuntu and with iCubGazeboV2_5.