3.21
add yapf style and apply yapf to format all Python files This recreates pull request #2192
allow user to specify the maximum number of dofs to log in GenericRobotStateLogger (default = 12) add minitaur quadruped playback of minitaur log files (real robot and simulated create the same log files) add improved minitaur.urdf file, see https://youtu.be/lv7lybtOzeo for a preview.
created a pretty Vatican museum table top, also a marble cube
Change URDF xml version from "0.0" to "1.0"
use the right mass for the rotational part of motors.
add minitaur rainbow dash (carbon fiber) simulating flexibility in outside brackets using prismatic joints
