diff --git a/cmake/Buildbipedal-locomotion-framework.cmake b/cmake/Buildbipedal-locomotion-framework.cmake
index 9ff10328e..60636dd2d 100644
--- a/cmake/Buildbipedal-locomotion-framework.cmake
+++ b/cmake/Buildbipedal-locomotion-framework.cmake
@@ -6,16 +6,19 @@ include(YCMEPHelper)
 include(FindOrBuildPackage)
 
 find_or_build_package(YARP QUIET)
+find_or_build_package(OsqpEigen QUIET)
 find_or_build_package(iDynTree QUIET)
 find_or_build_package(matioCpp QUIET)
 find_or_build_package(UnicyclePlanner QUIET)
 
 set(bipedal-locomotion-framework_DEPENDS "")
 list(APPEND bipedal-locomotion-framework_DEPENDS YARP)
+list(APPEND bipedal-locomotion-framework_DEPENDS OsqpEigen)
 list(APPEND bipedal-locomotion-framework_DEPENDS iDynTree)
 list(APPEND bipedal-locomotion-framework_DEPENDS matioCpp)
 list(APPEND bipedal-locomotion-framework_DEPENDS UnicyclePlanner)
 
+
 set(bipedal-locomotion-framework_USES_CppAD OFF)
 
 if (ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS)
@@ -49,7 +52,8 @@ ycm_ep_helper(bipedal-locomotion-framework TYPE GIT
               COMPONENT dynamics
               FOLDER src
               CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF
-                         -DFRAMEWORK_USE_YARP:BOOL=ON
+                         -DFRAMEWORK_USE_YARP:BOOL=O
+                         -DFRAMEWORK_USE_OsqpEigen:BOOL=ON
                          -DFRAMEWORK_USE_matioCpp:BOOL=ON
                          -DFRAMEWORK_USE_manif:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
                          -DFRAMEWORK_USE_Qhull:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
diff --git a/cmake/template/addPathsToUserEnvVariables.ps1.in b/cmake/template/addPathsToUserEnvVariables.ps1.in
index bfa8784a8..158770318 100644
--- a/cmake/template/addPathsToUserEnvVariables.ps1.in
+++ b/cmake/template/addPathsToUserEnvVariables.ps1.in
@@ -81,6 +81,7 @@ Add-ValueToUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"
 Add-ValueToUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\RRbot\robots";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\simulink";
+Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\simulink\MomentumVelocityControl";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\examples";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox\images";
diff --git a/cmake/template/removePathsFromUserEnvVariables.ps1.in b/cmake/template/removePathsFromUserEnvVariables.ps1.in
index 17c4a6c46..3b8285d50 100644
--- a/cmake/template/removePathsFromUserEnvVariables.ps1.in
+++ b/cmake/template/removePathsFromUserEnvVariables.ps1.in
@@ -84,6 +84,7 @@ Remove-ValueFromUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PR
 Remove-ValueFromUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\RRbot\robots";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\simulink";
+Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\simulink\MomentumVelocityControl";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\examples";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox\images";
diff --git a/cmake/template/setup.bat.in b/cmake/template/setup.bat.in
index b8aa55448..0bc1734e0 100644
--- a/cmake/template/setup.bat.in
+++ b/cmake/template/setup.bat.in
@@ -48,5 +48,5 @@ rem Set YARP and Gazebo related env variables
 set "YARP_DATA_DIRS=%YARP_DATA_DIRS%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\RRbot"
 set "GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\RRbot\robots"
 rem Configure the Matlab
-set "MATLABPATH=%MATLABPATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\examples;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox\images"
+set "MATLABPATH=%MATLABPATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink\MomentumVelocityControl;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\examples;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox\images"
 @endcmakeif ROBOTOLOGY_USES_MATLAB
diff --git a/cmake/template/setup.sh.in b/cmake/template/setup.sh.in
index cdcb1677f..8d131d1ea 100644
--- a/cmake/template/setup.sh.in
+++ b/cmake/template/setup.sh.in
@@ -51,5 +51,5 @@ export PYTHONPATH=${PYTHONPATH:+${PYTHONPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_P
 export YARP_DATA_DIRS=$YARP_DATA_DIRS:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/RRbot
 export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/RRbot/robots
 # Configure the Matlab path
-export MATLABPATH=${MATLABPATH:+${MATLABPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/simulink:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/examples:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox/images
+export MATLABPATH=${MATLABPATH:+${MATLABPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/simulink/MomentumVelocityControl:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/simulink:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/examples:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox/images
 @endcmakeif ROBOTOLOGY_USES_MATLAB
diff --git a/cmake/template/startup_robotology_superbuild.m.in b/cmake/template/startup_robotology_superbuild.m.in
index 2cc1fdd9b..dacff5a54 100644
--- a/cmake/template/startup_robotology_superbuild.m.in
+++ b/cmake/template/startup_robotology_superbuild.m.in
@@ -8,11 +8,12 @@ fprintf('\nMATLAB Toolbox\n');
 installDir   = '@YCM_EP_INSTALL_DIR@';
 mexDir       = [installDir, filesep, 'mex'];
 simLibDir   = [installDir, filesep, 'mex/+wbc/simulink'];
+simLibMomVelDir   = [installDir, filesep, 'mex/+wbc/simulink/MomentumVelocityControl'];
 simModDir   = [installDir, filesep, 'mex/+wbc/examples'];
 shareDir     = [installDir, filesep, 'share/WBToolbox'];
 imgDir       = [shareDir, filesep, 'images'];
 
-for dirPath = {mexDir,simLibDir,simModDir,shareDir,imgDir}
+for dirPath = {mexDir,simLibDir,simLibMomVelDir,simModDir,shareDir,imgDir}
     if exist(dirPath{1}, 'dir')
         addpath(dirPath{1});
     end
diff --git a/conda/multisheller/whole-body-controllers_activate.msh b/conda/multisheller/whole-body-controllers_activate.msh
index 0dd041836..75bc01b52 100644
--- a/conda/multisheller/whole-body-controllers_activate.msh
+++ b/conda/multisheller/whole-body-controllers_activate.msh
@@ -1,7 +1,9 @@
 if_(is_set("COMSPEC")).then_([
 	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink")),
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink\\MomentumVelocityControl")),
 	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\examples"))
 ]).else_([
 	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink")),
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink/MomentumVelocityControl")),
 	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/examples"))
 ])
diff --git a/conda/multisheller/whole-body-controllers_deactivate.msh b/conda/multisheller/whole-body-controllers_deactivate.msh
index d3adb10e8..8bba9cf46 100644
--- a/conda/multisheller/whole-body-controllers_deactivate.msh
+++ b/conda/multisheller/whole-body-controllers_deactivate.msh
@@ -1,7 +1,9 @@
 if_(is_set("COMSPEC")).then_([
 	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink")),
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink\\MomentumVelocityControl")),
 	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\examples"))
 ]).else_([
 	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink")),
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink/MomentumVelocityControl")),
 	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/examples"))
 ])
diff --git a/doc/install-mambaforge.md b/doc/install-mambaforge.md
index 9153d9f95..7ae9c8054 100644
--- a/doc/install-mambaforge.md
+++ b/doc/install-mambaforge.md
@@ -139,19 +139,19 @@ First of all, download the installer from https://github.com/conda-forge/minifor
 
 If you already have a Python that you use in your system, make sure that you deselect the "Register Mambaforge Python as my default Python" during the installation.
 
-After the installation has been completed, Mambaforge should have been installed in `%HOME%\AppData\Local\mambaforge`. 
+After the installation has been completed, Mambaforge should have been installed in `%HOMEDRIVE%%HOMEPATH%\AppData\Local\mambaforge`. 
 
-If you explicitly selected the for All Users install, Mambaforge will be installed in `%ProgramData%\mambaforge`, in that case substitute `%HOME%\AppData\Local\mambaforge` with `%ProgramData%\mambaforge` in the rest of the documentation.
+If you explicitly selected the for All Users install, Mambaforge will be installed in `%ProgramData%\mambaforge`, in that case substitute `%HOMEDRIVE%%HOMEPATH%\AppData\Local\mambaforge` with `%ProgramData%\mambaforge` in the rest of the documentation.
 
 To ensure that the `conda` binary can be used in your terminal, open a Command Prompt and run:
 ~~~
-%HOME%\AppData\Local\mambaforge\condabin\conda init
+%HOMEDRIVE%%HOMEPATH%\AppData\Local\mambaforge\condabin\conda init
 ~~~
 
 By default, this command also automatically initialize the [`base` conda environment](https://conda.io/projects/conda/en/latest/user-guide/tasks/manage-environments.html#activating-an-environment) whenever you start a terminal.
 As this could interfere with other uses of your system (for example compilation against libraries installed not installed via `conda`), it is recommended to disable this by setting:
 ~~~
-%HOME%\AppData\Local\mambaforge\condabin\conda config --set auto_activate_base false
+%HOMEDRIVE%%HOMEPATH%\AppData\Local\mambaforge\condabin\conda config --set auto_activate_base false
 ~~~
 
 After this configuration, whenever you open a new terminal, you should be able to access the `conda` command, but no environment should be enabled by default, i.e. if you execute `conda info` you should see:
@@ -170,9 +170,9 @@ mamba activate base
 ### Uninstall
 First of all, open a command prompt and run:
 ~~~
-%HOME%\AppData\Local\mambaforge\condabin\conda init --reverse
+%HOMEDRIVE%%HOMEPATH%\AppData\Local\mambaforge\condabin\conda init --reverse
 ~~~
 
 Then go to "Add or remove programs", search for Mambaforge and uninstall it.
 
-After that, delete the `%HOME%/.conda` directory and the `%HOME%/.condarc` file.
+After that, delete the `%HOMEDRIVE%%HOMEPATH%/.conda` directory and the `%HOMEDRIVE%%HOMEPATH%/.condarc` file.
diff --git a/doc/install-miniforge.md b/doc/install-miniforge.md
index 9da14511e..4da6bd18c 100644
--- a/doc/install-miniforge.md
+++ b/doc/install-miniforge.md
@@ -137,19 +137,19 @@ First of all, download the installer from https://github.com/conda-forge/minifor
 
 If you already have a Python that you use in your system, make sure that you deselect the "Register Miniforge3 Python as my default Python" during the installation.
 
-After the installation has been completed, Miniforge should have been installed in `%HOME%\AppData\Local\miniforge3`. 
+After the installation has been completed, Miniforge should have been installed in `%HOMEDRIVE%%HOMEPATH%\AppData\Local\miniforge3`. 
 
-If you explicitly selected the for All Users install, Miniforge will be installed in `%ProgramData%\miniforge3`, in that case substitute `%HOME%\AppData\Local\miniforge3` with `%ProgramData%\miniforge3` in the rest of the documentation.
+If you explicitly selected the for All Users install, Miniforge will be installed in `%ProgramData%\miniforge3`, in that case substitute `%HOMEDRIVE%%HOMEPATH%\AppData\Local\miniforge3` with `%ProgramData%\miniforge3` in the rest of the documentation.
 
 To ensure that the `conda` binary can be used in your terminal, open a Command Prompt and run:
 ~~~
-%HOME%\AppData\Local\miniforge3\condabin\conda init
+%HOMEDRIVE%%HOMEPATH%\AppData\Local\miniforge3\condabin\conda init
 ~~~
 
 By default, this command also automatically initialize the [`base` conda environment](https://conda.io/projects/conda/en/latest/user-guide/tasks/manage-environments.html#activating-an-environment) whenever you start a terminal.
 As this could interfere with other uses of your system (for example compilation against libraries installed not installed via `conda`), it is recommended to disable this by setting:
 ~~~
-%HOME%\AppData\Local\miniforge3\condabin\conda config --set auto_activate_base false
+%HOMEDRIVE%%HOMEPATH%\AppData\Local\miniforge3\condabin\conda config --set auto_activate_base false
 ~~~
 
 After this configuration, whenever you open a new terminal, you should be able to access the `conda` command, but no environment should be enabled by default, i.e. if you execute `conda info` you should see:
@@ -168,9 +168,9 @@ conda activate base
 ### Uninstall
 First of all, open a command prompt and run:
 ~~~
-%HOME%\AppData\Local\miniforge3\condabin\conda init --reverse
+%HOMEDRIVE%%HOMEPATH%\AppData\Local\miniforge3\condabin\conda init --reverse
 ~~~
 
 Then go to "Add or remove programs", search for Miniforge3 and uninstall it.
 
-After that, delete the `%HOME%/.conda` directory and the `%HOME%/.condarc` file.
+After that, delete the `%HOMEDRIVE%%HOMEPATH%/.conda` directory and the `%HOMEDRIVE%%HOMEPATH%/.condarc` file.
diff --git a/releases/2021.11.1.yaml b/releases/2021.11.1.yaml
index 10069fa67..2498a6042 100644
--- a/releases/2021.11.1.yaml
+++ b/releases/2021.11.1.yaml
@@ -102,7 +102,7 @@ repositories:
   whole-body-controllers:
     type: git
     url: https://github.com/robotology/whole-body-controllers.git
-    version: v2.5.3
+    version: v2.5.6
   whole-body-estimators:
     type: git
     url: https://github.com/robotology/whole-body-estimators.git
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 10069fa67..2498a6042 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -102,7 +102,7 @@ repositories:
   whole-body-controllers:
     type: git
     url: https://github.com/robotology/whole-body-controllers.git
-    version: v2.5.3
+    version: v2.5.6
   whole-body-estimators:
     type: git
     url: https://github.com/robotology/whole-body-estimators.git