for more information, see https://pre-commit.ci

for more information, see https://pre-commit.ci

ref. https://github.com/stack-of-tasks/dynamic-graph/issues/36

- removed custom DYNAMIC_GRAPH_PYTHON_MODULE
- moved python lib to dynamic_graph/
- added required ${plugin}-python.hh
- use np.array everywhere
- updated tests
- created delay.hh
- removed main plugin
- switched to example-robot-data instead of talos-data

follows https://github.com/stack-of-tasks/sot-core/pull/148

ref https://github.com/stack-of-tasks/pinocchio/pull/1220

Cleaning files of comments.
Add warnings: 
The device has control type in no integrator -> control is in POSITION
The hipFlexibility is plugged in the test file only
The hipFlexibility q_des signal is set to the robot halfSitting -> to be changed

New architecture: 
tau -> LowPass -> delta_q (= tau/flex) -> RateLimiter -> q_cmd (= RL(delta_q) + q_des)

Take in entry the current torque and the desired position of the joints.
Output the angular correction to apply on the hip (theta_diffSOUT) and the desired positions updated with these angles (q_cmdSOUT).
Done on left and right hips. 
Possibility to activate angular saturation and lowPass filter.
Test uses the entity with a constant desired position which is the halfsitting, with same left and right hip flexibility.   

ref https://github.com/stack-of-tasks/pinocchio/issues/849