Add FOSWEC tutorial

[jtgrasb]

Description

Add FOSWEC tutorial using Multibody for Everybody.
This PR:

• Adds tutorial 5: FOSWEC notebook, which includes the following important features.
  • Interfaces with Multibody for Everybody (M4E) to setup joints and generate reduced coefficients and matrices.
  • Uses M4E transformation matrix to convert forcing matrices and PTO kinematics to reduced coordinates and convert results back to global coordinates.
  • Verifies integration against WEC-Sim results.
  • Example of static solve - no control variables or objective function, just residual constraint.
  • Example of PTO kinematics matrix for multi-PTO device.
  • Example of a proportional controller.
    • Satisfies Feature request: structured controller in tutorial #453, although a saturated controller could still be valuable in the future.
  • Completes a design study on adding top-mounted ballast to replicate work done in the paper.
    • Not exact same as paper to save computation time in tutorial, but results show same trends.
• Adds Multibody for Everybody v2 to the project dependencies.
• Adds utilities functions for interfacing with M4E in WecOptTool. Also adds tests for these new functions.

Type of PR

• New tutorial

Checklist for PR

• Authors read the contribution guidelines
• The pull request is from an issue branch (not main) on your fork, to the dev branch in WecOptTool.
• The authors have given the admins edit access
• All changes adhere to the style guide including PEP8, Docstrings, and Type Hints.
• Modified the documentation if applicable
• Modified or added a new test
• All tests pass
• Reference or close any relevant issues

Additional details

N/A

[coveralls]

coverage: 88.138% (+0.2%) from 87.964% — jtgrasb:FOSWEC_example into sandialabs:dev