ref.
https://github.com/loco-3d/multicontact-api/pull/21
https://github.com/humanoid-path-planner/hpp-bezier-com-traj/pull/12
https://github.com/humanoid-path-planner/hpp-rbprm/pull/84

Changes in v2.1.0:
- fix curve serialization version
- Backward compatibility for serialization
- fix contactSequence check methods
- fix concatenate effector
- Improve ContactModel
- Add script to load examples in gepetto-gui

Changes since v1.1.2:
-  breaks backward compatibility 
- trajectories are represented by objects from the Curves package and
  not with discrete set of point
- additions and changes to several fields to the contact-phase structure
  to store data about the whole body motion
- Contact-phase now contains the active contact patchs in a map
  <effector name ; contact patch >

Changes since v1.1.1:
- fixed .pc
- updated CMake

To plan ahead for next version.

While here, set USE_PYTHON_ONLY

Affected packages:

wip/ddp-actuator-solver
wip/eiquadprog
wip/example-adder
wip/example-robot-data
wip/jrl-walkgen-v3
wip/multicontact-api
wip/openhrp3-simulator-wo-rtm
wip/py-dynamic-graph-v3
wip/py-example-adder
wip/py-example-robot-data
wip/py-multicontact-api
wip/py-sot-core-v3
wip/py-sot-dynamic-pinocchio-v3
wip/py-sot-dyninv-v3
wip/py-sot-pattern-generator-v3
wip/py-sot-talos-balance
wip/py-sot-torque-control
wip/py-tsid
wip/sot-core-v3
wip/sot-dynamic-pinocchio-v3
wip/sot-dyninv-v3
wip/sot-hrp2-v3
wip/sot-pattern-generator-v3
wip/sot-talos-balance
wip/sot-torque-control
wip/soth
wip/tsid

Changes since v1.1.0:
- Fix compatibility with recent pinocchio versions
- Reformat project
- improve CMake

Packaging changes:
- remove patches aa, ab, ad, fixed upstream
- use jrl-cmakemodules

Changes since v1.0.1:
- store centroidal quantities (com, vcom and force) in contact-phase
- packaging details

Changes since v1.0.0:
- setup CI
- fix python module creation, installation and test
- fix imports for python 3