Fix loading of Python bindings on Windows when installed in arbitrary directory

[traversaro]

Since Python 3.8, Python ignores the PATH env variable when trying to load the DLL of compiled Python extensions.

We kind ignored the problem until now as if you install in %CONDA_PREFIX%\Library\bin in conda environment everything works out of the box, but the problem is present when bipedal-locomotion-framework is installed in an arbitrary install prefix and the Python bindings are found via PYTHONPATH env variable, see robotology/robotology-superbuild#1268 .

This PR fixes the problem by adding some automatically generated code in the __init__.py file that automatically calls os.add_dll_directory as necessary.

As the Python code is generated by CMake it may be a bit cryptic, the actual rendered code is:

import os
library_dll_path = os.path.join(os.path.dirname(__file__),'../../bin')
# Avoid to call add_dll_directory if not necessary,
# for example if the library to find are already found in the proper location in a conda environment
if(library_dll_path != os.path.join(os.environ.get('CONDA_PREFIX', ''),'Library','bin') and library_dll_path != os.path.join(os.environ.get('CONDA_PREFIX', ''),'bin')):
    if(os.path.exists(library_dll_path)):
        os.add_dll_directory(library_dll_path)

Similar to:

• Fix loading of Python bindings on Windows when installed in arbitrary directory idyntree#1209
• Fix Python bindings installation and support building bindings as standalone projects human-dynamics-estimation#398
• Fix loading of Python bindings on Windows when installed in arbitrary directory ami-iit/bipedal-locomotion-framework#905

[update-docs]

Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update the release notes by adding a file in doc/release/<target_branch>, based on your changes.

[traversaro]

The failure in Valgring job 22 is unrelated to this PR, but will be fixed by #3147 .