Blenderproc

- new camera projection helper methods are available: `bproc.camera.depth_via_raytracing()`, `bproc.camera.pointcloud_from_depth()`, `bproc.camera.project_points()`, `bproc.camera.unproject_points()` (1045, 1075)
- .blend loader now also supports hair_curves (1052, thanks sagoyal2)
- adds .usd loader (1043, thanks freLorbeer)
- fixes memory leak in bop writer (1086, thanks matteomastrogiuseppe)
- fixes removal of scene properties (1055)
- fixes incorrect warnings regarding hidden objects in bop writer (1058, thanks saprrow)
- fixes linking objects when duplicating object hierarchy (1081, thanks AndreyYashkin)

- upgrades to blender 3.5.1 (788)
- adds helper methods for easy 3D-2D projection/unprojection, including `bproc.camera.depth_via_raytracing()`, `bproc.camera.pointcloud_from_depth()`, `bproc.camera.project_points()`, `bproc.camera.unproject_points()`, see also [point_cloud](https://github.com/DLR-RM/BlenderProc/tree/main/examples/advanced/point_clouds) example (#1045)
- removes support for obsolete .yaml configuration files (962)
- speeds up bop writer for large number of objects - for 300 objects, the bop writer execution time reduces from 60s to 12s with 8 cores (996)
- adds warning if hidden objects are given to bop writer (998)
- skip transparent cc materials per default (1004)
- rework of `duplicate()`: allows linking and keeps parent relative transformation matrix (1012, thanks AndreyYashkin)
- moves `hide()` and `is_hidden()` to Entity class (1015, thanks AndreyYashkin)
- fixes optical flow output key being overwritten by RGB (963)
- fixes `--custom-blender-path` on windows (972)
- adapts downloading cc_textures to new naming scheme (976, 993)
- fixes issue in light projector (995, thanks beekama)
- fixes skipping annotation indices when appending coco annotations (1024)
- fixes frame offset in rendering progress bar (1038, thanks burcam)

- Fixes blender download

- Fixes pyrender usage on windows, EGL / headless rendering is now only used on linux

- BOP toolkit is now tightly integrated into the the BOP writer:
- Ground truth masks and coco annotations are now directly calculated when calling the BOP writer
- Instead of using vispy for renderings the masks, we switched to pyrender which speeds up the process a lot
- rendering/physics log is now hidded per default and instead a pretty progress bar is shown
- upgrades to blender 3.3.1
- its now possible to render segmentation images in stereo mode
- adds method to MeshObject to convert to trimesh
- fixes rendering on cpu-only (thanks muedavid)
- adds support for loading .glb/.gltf meshes (thanks woodbridge)
- adds support for loading .fbx meshes (thanks HectorAnadon)
- allows setting rotation for hdri backgrounds (thanks saprrow)
- incorporate location changes to urdf local2world matrix calculations
- allows setting brightness for hdri backgrounds
- `bproc.object.sample_poses_on_surface()` now hides objects which could not be placed instead of deleting them
- removes duplicate categories and fixes segmentation id when writing scene_gt.json annotations in BOP writer (thanks hansaskov)
- `get_all_cps()` now returns a proper dictionary (thanks andrewyguo)
- replaces deprecated `np.bool` with bool (thanks NnamdiN)
- refactoring of haven download script to support multithreading (thanks hansaskov)
- fixes loading stl files in urdf files
- loading a .ply objects automatically sets the materials to its vertex color if no texture file was found.
- username is now retrieved in a more platform independent way (thanks YouJiacheng)
- coco annotations are now nicely formatted (thanks andrewyguo)
- object pose sampler now correctly sets rotation if mode on failer was set to `initial_pose`

- segmentations are now done in the same call as any other render call, avoiding the loading of the objects for each pose
- added the kinect azure noise model, allowing for the creation of more realistic depth images
- added a spotlight intersection mode, which places a spotlight in the world without intersecting with the current camera frustum, while it focuses on the middle of the camera frustum, creating hard lighting situations
- add an importer for the MatterPort3d dataset
- the key of custom properties now can no longer have the same name as any attribute of the `blender_obj`. Custom properties do not need to start with `cp_` anymore
- add a new paper designated for the journal of sensors
- we now use pylint to clean up all code smells and add documentation to all functions
- the bop loader now also supports the hope dataset
- separate the init and clean up functions
- it can now be specified which GPU to use for rendering, if multiple are available
- rewrite the ambient CG download script, allowing resuming the download
- turn of the cycle denoiser causing issues in certain settings
- add a random walk feature, which allows simulating a camera shaking or POI drift
- the duplicate and delete fcts now support duplicating all children as well, we added a `get_children` fct as well
- renaming `get_rotation` to `get_rotation_euler` and adding functions for setting the rotation matrix
- fix a bug in the move_origin_to_bottom_mean fct.