Merge branch 'downgrade-to-tf-2.4' into 'master'

Downgrade to tensorflow 2.4

See merge request !258
5 jobs for master in 23 minutes and 13 seconds (queued for 1 second)
Status Name Job ID Coverage
  Build
passed build_linux_bob_devel #247078
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passed build_linux_bob_devtools #247079
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passed build_macos_intel_bob_devel #247080
macos intel

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passed build_macos_intel_bob_devtools #247081
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  Deploy
passed deploy_beta #247082
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