Implement ISensorBridge python bindings

[GiulioRomualdi]

Similar to #200

The following example explains how to use bindings

import bipedal_locomotion_framework.bindings as blf
import time

if __name__ == "__main__":
    handler = blf.StdParametersHandler()
    handler.set_parameter_vector_string("joints_list", ["r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll"])
    handler.set_parameter_vector_string("remote_control_boards", ["right_leg"])
    handler.set_parameter_string("robot_name", "icubSim")
    handler.set_parameter_string("local_prefix", "test_local")
    handler.set_parameter_float("positioning_duration", 3.0)
    handler.set_parameter_float("positioning_tolerance", 0.05)
    handler.set_parameter_float("position_direct_max_admissible_error", 0.1)
    handler.set_parameter_float("position_direct_max_admissible_error", 0.1)
    handler.set_parameter_bool("check_for_nan", False)
    handler.set_parameter_bool("stream_joint_states", True)
    
    # Create the control board
    control_board = blf.construct_remote_control_board_remapper(handler)
    time.sleep(1)

    # Create the robot control 
    robot_control = blf.YarpRobotControl()
    robot_control.initialize(handler)
    robot_control.set_driver(control_board.poly)

    # Create the sensor bridge
    sensor_bridge = blf.YarpSensorBridge()
    sensor_bridge.initialize(handler)
    sensor_bridge.set_drivers_list([control_board])
    
    # Move the robot
    robot_control.set_references([0.8, 0.5, 0.1, -0.8, 0.5, -0.4], \
                                 blf.IRobotControl.ControlMode.Position)
    
    while(1):
        sensor_bridge.advance()
        _, joints_values, _  = sensor_bridge.get_joint_positions()
        print("joint values = " + str(['%.4f' % elem for elem in joints_values]))
        
        time.sleep(0.01)
        

@paolo-viceconte