v3.0.0b4 Release

Major changes:

The open cv (cv2) package is now no longer a dependency, making it easier for ManiSkill to run on more systems.
EE based control (PDEEPoseController) has been overhauled and documentation has been updated to explain it much more clearly. Importantly there are now 4 frames of control (arising from the product of 2 rotation and 2 translation frames) and the default has been changed to be the more intuitive default (e.g. +Z is actually upwards / in the root link frame). Moreover the CPU sim default frame is the same frame used by the GPU sim. See https://maniskill.readthedocs.io/en/latest/user_guide/concepts/controllers.html#pd-ee-end-effector-pose. This also means previous policies trained on ee controllers (like pd_ee_delta_pose) will not work the same as before and do not directly transfer to this version.
SAPIEN dependency has been upgraded, which fixes a number of bugs particularly around support for older / less common GPUs

What's Changed

[BugFix] Windows/wsl bug fixes by @StoneT2000 in #333
[Feature] Remove cv2 by @StoneT2000 in #335
[Feature] Update scene builder api by @arth-shukla in #315
[BugFix] Fix bug where Actors/Root Links did not accept raw tensors for poses by @StoneT2000 in #336
[BugFix] Fix typo in ppo baselines with printed evaluation step values by @StoneT2000 in #337
[BugFix] Update motionplanner.py by @PartyPenguin in #338
[Feature] Update and document ee-control controllers by @StoneT2000 in #339
[Docs] Fix video links by @StoneT2000 in #340
[Feature] Support any task loading any robot and print warning instead of assert by @StoneT2000 in #341

Full Changelog: v3.0.0b3...v3.0.0b4