Extend CBF to more systems and extend functionality to guarantee stability

[Federico-PizarroBejarano]

Currently the CBF safety filter only works for the cartpole, and more generally for control affine systems. It should be extended to the other systems in the gym (1D, 2D, and 3D quad). If extended for non-affine systems, we would need to move away from a QP solver.

Additionally, the CBF can be extended with a CLF to guarantee stabilization.

[JacopoPan]

@Federico-PizarroBejarano is any of the on-going PRs addressing this or we should label the issue with "help wanted"?

[Federico-PizarroBejarano]

@JacopoPan I may address some of this for my upcoming paper, but I definitely won't fix all of it and it depends on how much time I have (which seems low rn), so you can label it with "help wanted". I will keep this issue updated if I end up fixing anything.