Improve static stability constraints

  Can be reintroduced later if needed after refactoring the input data that
  do not match anymore the input of the C++ class.

Change license to BSD 2.

[Problem] Allow user to set goal of path planning as a set of constraints

Add stringSeqSeq type and vectorToStringSeqSeq conversion method

[core_idl] Bind class ConnectedComponent.

  bind method roadmap.connectedComponents.

fix submodule url

add missing include

fix:

```
/usr/lib/ccache/bin/g++ -DBOOST_ALL_NO_LIB -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DBOOST_SERIALIZATION_DYN_LINK -DBOOST_THREAD_DYN_LINK -DHPP_FCL_HAS_OCTOMAP -DHPP_FCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=9 -DOCTOMAP_PATCH_VERSION=7 -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_URDFDOM -Dhpp_corbaserver_EXPORTS -I/home/nim/local/humanoid-path-planner/hpp-corbaserver/build -I/home/nim/local/humanoid-path-planner/hpp-corbaserver/build/include -I/home/nim/local/humanoid-path-planner/hpp-corbaserver/include -I/home/nim/local/humanoid-path-planner/hpp-corbaserver/build/src -isystem /home/nim/local/robotpkg/install/include -isystem /usr/include/eigen3 -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion -fdiagnostics-color=always -fPIC -D__x86_64__ -D__linux__ -D__OSVERSION__=2 -MD -MT src/CMakeFiles/hpp-corbaserver.dir/conversions.cc.o -MF src/CMakeFiles/hpp-corbaserver.dir/conversions.cc.o.d -o src/CMakeFiles/hpp-corbaserver.dir/conversions.cc.o -c /home/nim/local/humanoid-path-planner/hpp-corbaserver/src/conversions.cc
/home/nim/local/humanoid-path-planner/hpp-corbaserver/src/conversions.cc:327:29: erreur: « vector » dans l'espace de noms « boost::mpl » ne nomme pas un type de patron
  327 |         typedef boost::mpl::vector<
      |                             ^~~~~~
```

[Problem] Fix bug in method nodesConnectedComponent.

  Check that input index is not out of range.

tools.createContext: add port argument

[robot.py] Add function shrinkJointRange.

  when creating CORBA sequences of strings.

disambiguate ComparisonTypes_t

Without this, hpp-rbprm-corba build fails with:

FAILED: src/CMakeFiles/rbprm-corba.dir/rbprmbuilder.impl.cc.o
/usr/lib/ccache/bin/g++ -DBOOST_ALL_NO_LIB -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DBOOST_SERIALIZATION_DYN_LINK -DBOOST_THREAD_DYN_LINK -DCURVES_WITH_PINOCCHIO_SUPPORT -DHPP_FCL_HAS_OCTOMAP -DHPP_FCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=9 -DOCTOMAP_PATCH_VERSION=6 -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_URDFDOM -Drbprm_corba_EXPORTS -I. -Iinclude -I../include -Isrc -isystem /usr/include/cddlib -isystem $ROBOTPKG/install/include -isystem /usr/include/eigen3 -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion -fdiagnostics-color=always -fPIC -D__x86_64__ -D__linux__ -D__OSVERSION__=2 -MD -MT src/CMakeFiles/rbprm-corba.dir/rbprmbuilder.impl.cc.o -MF src/CMakeFiles/rbprm-corba.dir/rbprmbuilder.impl.cc.o.d -o src/CMakeFiles/rbprm-corba.dir/rbprmbuilder.impl.cc.o -c ../src/rbprmbuilder.impl.cc
Dans le fichier inclus depuis ../src/rbprmbuilder.impl.cc:41:
$ROBOTPKG/install/include/hpp/corbaserver/conversions.hh:137:55: erreur: la référence à « ComparisonTypes_t » est ambiguë
  137 |     constraints::ComparisonTypes_t convertComparison (ComparisonTypes_t comp);
      |                                                       ^~~~~~~~~~~~~~~~~
Dans le fichier inclus depuis $ROBOTPKG/install/include/hpp/core/problem-solver.hh:27,
                 depuis ../src/rbprmbuilder.impl.hh:21,
                 depuis ../src/rbprmbuilder.impl.cc:21:
$ROBOTPKG/install/include/hpp/core/fwd.hh:78:44: note: les candidats sont : « typedef hpp::constraints::ComparisonTypes_t hpp::core::ComparisonTypes_t »
   78 |     typedef constraints::ComparisonTypes_t ComparisonTypes_t;
      |                                            ^~~~~~~~~~~~~~~~~
Dans le fichier inclus depuis src/hpp/corbaserver/rbprm/rbprmbuilder-idl.hh:23,
                 depuis ../src/rbprmbuilder.impl.cc:20:
$ROBOTPKG/install/include/hpp/common-idl.hh:1024:9: note:                      « class hpp::ComparisonTypes_t »
 1024 |   class ComparisonTypes_t : public _CORBA_Unbounded_Sequence_w_FixSizeElement< ComparisonType, 4, 4 >  {
      |         ^~~~~~~~~~~~~~~~~
Dans le fichier inclus depuis ../src/rbprmbuilder.impl.cc:41:
$ROBOTPKG/install/include/hpp/corbaserver/conversions.hh:140:5: erreur: la référence à « ComparisonTypes_t » est ambiguë
  140 |     ComparisonTypes_t* convertComparison (constraints::ComparisonTypes_t comp);
      |     ^~~~~~~~~~~~~~~~~
Dans le fichier inclus depuis $ROBOTPKG/install/include/hpp/core/problem-solver.hh:27,
                 depuis ../src/rbprmbuilder.impl.hh:21,
                 depuis ../src/rbprmbuilder.impl.cc:21:
$ROBOTPKG/install/include/hpp/core/fwd.hh:78:44: note: les candidats sont : « typedef hpp::constraints::ComparisonTypes_t hpp::core::ComparisonTypes_t »
   78 |     typedef constraints::ComparisonTypes_t ComparisonTypes_t;
      |                                            ^~~~~~~~~~~~~~~~~
Dans le fichier inclus depuis src/hpp/corbaserver/rbprm/rbprmbuilder-idl.hh:23,
                 depuis ../src/rbprmbuilder.impl.cc:20:
$ROBOTPKG/install/include/hpp/common-idl.hh:1024:9: note:                      « class hpp::ComparisonTypes_t »
 1024 |   class ComparisonTypes_t : public _CORBA_Unbounded_Sequence_w_FixSizeElement< ComparisonType, 4, 4 >  {
      |         ^~~~~~~~~~~~~~~~~