MPC Specific simulation environment with separate WBCC thread

[Beomyeong]

The purpose of this PR is set the simulation structure which is specific to whole-body MPC controller (Crocoddyl repo)
All the factory, high-level controller, contextData, highleveltask is copied or made to run MPC controller independently with regular controller.

Overview
MPCControllerState (in the Crocoddyl repo) calculates the jointOutput in the ControlThread (This will be used in the WBCC later)
The calculated JointOutputDesired is shared through the HumanoidRobotMPCContextData as the wholeBodyControllerCoreDesiredOutPutList.
The wholeBodyControllerCoreDesiredOutPutList is called in HumanoidWholeBodyControllerCoreManager of the WholeBodyControllerCoreThread and then be used to update the actuator input.

Added files

For multi-threading : which will be used when MPC controller runs with regular one

• AvatarMPCControllerThread
• AvatarMPCControllerThreadInterface
• AvatarMPCEstimatorThread
• AvatarMPCStepGeneratorThread
• AvatarWholeBodyControllerThread
• MPCControllerTask
• MPCEstimatorTask
• MPCStepGeneratorTask
• WholeBodyConctrollerCoreTask
• BarrierScheduledMPCRobotController
• HumanoidRobotMPCControlTask
• HumanoidRobotMPCContextData
• HumanodRobotMPCContextDataFactory
• ControllerCoreToolBoxDataHolder
• ControllerCoreCommandDataHolder
• MPCCrossRobotCommandResolver
• ControllerCoreOutputDataHolder
• HumanoidWholeBodyControllerCoreManager

For MPC Specific simulation environment: which will "not" be used when MPC controller runs with regular one

• SCS2AvatarMPCSimulation
• SCS2AvatarMPCSimulationFactory
• MPCWholeBodyControllerCore
• HighLevelMPCControllerFactoryHelper
• HumanoidHighLevelMPCControllerManager
• DoNothingMPCControllerStateFactory
• FinishedMPCControllerStateTransitionFactory
• MPCControllerFailedTransitionFactory
• MPCControllerStateTransitionFactory
• MPCHighLevelControllerStateFactory
• MPCHighLevelHumanoidControllerFactory
• MPCWalkingControllerStateFactory
• RequestedMPCControllerTransitionFactory
• DoNothingMPCControllerState
• MPCHghLevelControllerState
• MPCWalkingControllerState
• HighLevelHumanoidMPCControllerPlugin
• HighLevelHumanoidMPCControllerPlugingFactory
• MPCControllerComponentBasedFootstepDataMessageGenerator
• MPCControllerComponentBasedFootstepDataMessageGeneratorFactory
• MPCControllerHumanoidSteppingPlugin
• MPCControllerHumanoidSteppingPluginFactory.