Quaternion/Position order is not coherent between logger and thrift

[lrapetti]

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Describe the bug With @Zweisteine96 we noticed difference in the linear/angular serialization used used for iFeel data:

• in the thrift message we use angular/linear for the pose (see here and here), while for the velocity in the thift we use linear/angular (see here)
• In the sensors interface implementation the order seems to be again orientation/position (see here and here)
• In the logger, data are saved as position/orientation (see here and here)

The difference between logger and thrift has created some confusion.

This opens ups to some solutions:

• Document property the way data are logged and transmitted
• Change the order in the thrift (this will break backcompatibility of the dataset, even if it would be clear the order used)
• Change the order in the logger (same as previous)
• ... others?

Any suggestion/opinion @RiccardoGrieco @traversaro @diegoferigo ?