[SPARK-21278][PYSPARK] Upgrade to Py4J 0.10.6

## What changes were proposed in this pull request?

This PR aims to bump Py4J in order to fix the following float/double bug.
Py4J 0.10.5 fixes this (https://github.com/bartdag/py4j/issues/272) and the latest Py4J is 0.10.6.

**BEFORE**
```
>>> df = spark.range(1)
>>> df.select(df['id'] + 17.133574204226083).show()
+--------------------+
|(id + 17.1335742042)|
+--------------------+
|       17.1335742042|
+--------------------+
```

**AFTER**
```
>>> df = spark.range(1)
>>> df.select(df['id'] + 17.133574204226083).show()
+-------------------------+
|(id + 17.133574204226083)|
+-------------------------+
|       17.133574204226083|
+-------------------------+
```

## How was this patch tested?

Manual.

Author: Dongjoon Hyun <dongjoon@apache.org>

Closes #18546 from dongjoon-hyun/SPARK-21278.