Jiminy-py

This release enhances the new pipeline architecture design for Gym environments to be more flexible and easy-to-use. In addition, log variables are now stored in 64 bits instead of 32 bits.

New features:
* [core] Log variable in 64bits instead of 32bits (and drop compatibility with old proprietary parser).
* [gym] Add dedicated interface for control and observation handling.
* [gym] Add block interface for pipeline control design.
* [gym] Add unit tests.
* [gym] Add generic pipeline generator.

Improvements:
* [core] Do not raise an exception if qhull not available and warn only.
* [core/python] 'register_variable*' methods now checks that input array is valid.
* [python] Fix deprecation warnings.
* [python/meshcat] Fix irrelevant warning and error messages.
* [python|gym] Add flag to enable/disable verbose logging related to robot toml file handling.
* [python|gym] Various bug fixes. Improve support of Windows.
* [gym] Remove 'common.wrapper' submodule since they are deprecated for now.
* [gym] Replace 'set_zeros' by 'zeros' to support immutable spaces.
* [gym] Always register controller target in pipeline architecture design for internal computations.
* [gym] Goes back to float64 for consistency with Jiminy float type.
* [gym] add 'get_log' helper at 'BaseJiminyEnv' level.
* [gym] 'register_variables' now returns 'is_success' flag.
* [gym] Use 'meshcat' backend by default if rendering with mode 'rgb_array'.
* [gym] Rename 'controller_dt' in 'control_dt'. Take into account controller's rewards in pipeline wrapper.
* [gym] Fix 'control_dt' not updated for 'BaseControllerBlock'. Block now has wrapped env in arg instead of unwrapped one.
* [gym] Remove support of with 'observe_target' for 'ControlledJiminyEnv' because of no real usecase.

Miscellaneous:
* [misc] Remove old deprecated docstring style.
* [misc] Enable to re-run automatic build scripts.
* [misc] Install numba on CI instead of 'easy_install_ubuntu.sh' script.
* [misc] Add-back Pinocchio StdVec_* converters.
* [misc] Fix Pinocchio imported twise that was messing up with boost python converters on Windows.
* [misc] Update Meshcat to v0.0.19 and remove backported code.
* [misc] Remove extra layer of indirection for import of Python bindings.
* [misc] Fix Atlas collision sphere size to fix display in Meshcat.
* [misc] Remove text image from ANYmal to avoid Meshcat viewer failure to load meshes.
* [misc] Enable pylint Python linter and pypy static type checker for gym/common and gym/toolbox on CI.
* [misc] Fix compatibility with Python < 3.7 on Win.
* [misc] Set Meshcat backend recorder thread to high priority.
* [core] Add dedicated 'Macro.h' header file.
* [core] Add macro to print error message. Add filename and line number in error message.
* [core] rename constant 'TELEMETRY_MAX_BUFFER_SIZE' in 'TELEMETRY_MIN_BUFFER_SIZE' for consistency.
* [core] Consistent style over the whole codebase.
* [python/meshcat] Factorize 'Capsule' implementation.

Bug fixes:
* [core] Fix various edge case segfault.
* [python] Use 'tempfile.mkstemp' instead of 'tempfile.NamedTemporaryFile' to create temp files (Windows compatibility).
* [python/viewer] Fix edge case when calling 'is_alive' while parent process is dead.
* [gym] Various bug fixes, typing and style.

This release introduces a new pipeline control architecture design for Gym environments. A controller is an independent block, that can be connected directly to an environment or another controller. In addition, a new Gym toolbox sub-module has been created, which is intended to gather tools for learning based on Pytorch.

Bug fixes:
* [core] Fix edge case where the controller could be updated twise successively.
* [core/python] Fix controller functor q/v type to avoid creating Eigen::Ref for nothing.
* [core|python] Do not overwrite meshScale for convex, just ignore it when loading in viewer.
* [python/robot] Fix 'gcd' for float.
* [python/viewer] Properly initialize default backend viewer.
* [python/meshcat] Fix client opening.

Improvements:
* [core] Use collisionResults instead of distanceResults to compute collisions for efficiency. Use 5 contact points by default.
* [core] More robust normal and penetration depth handling for collisions.
* [python] Various minor style improvements.
* [python/meshcat] Enable specifying custom material type when load geometry.
* [python/meshcat] Enable to visualize FCL BVHModelOBBRSS meshes.
* [python/meshcat] Use group to enable/disable 'visible' property and to delete scene.
* [python|gym] Add new learning toolbox module.
* [gym] Add global option to enable/disable obs/action finite bounds.
* [gym] Add new 'BaseController' base controller and 'ControlledJiminyEnv' [env + controller] wrapper.
* [gym] Add 'PDController' block and use it in zoo envs.

Miscellaneous:
* [misc] Add copyright Pinocchio when necessary.
* [misc] Do not start URDF with comments since it is not properly supported.
* [misc] Cleanup unit test cmake config.
* [misc] Add support of ASCII art diagram in docs.
* [misc] More robust and versatile cmake pip install and wheel generation helpers.
* [misc] Improve CI scripts and remove warnings during build docs.
* [python|gym] Use Python namespace to enable installing components individually.
* [gym] Add 'controller_dt' attribute and 'compute_command' method. Rename '_setup_environment' in '_setup'.
* [gym] Use np.float32 for obs/action spaces.
* [gym] Update docs.

It is now possible to visualize all standard primitives shapes in Meshcat, and to enable/disable display of visual/collision geometries.

Bug fixes:
* [core] Fix issue with convex collision mesh scaling.

Improvements:
* [core] Use static cast instead of dynamics for collision geometry retrieval.
* [python/meshcat] Server now keeps track of object properties to synchronise them between clients (for example "visible").
* [python/meshcat] Achieve features parity with gepetto-gui: added support of Cone/Capsule/Convex shapes.

Miscellaneous:
* [misc] Remove compatibility code with Pinocchio < 2.4.4.

This release fixes several bugs and limitations of the automatic URDF import capability, and introduce [Spotmicro robot](https://github.com/nicrusso7/rex-gym/blob/master/rex_gym/util/pybullet_data/assets/urdf/package://meshes/README.txt).

Bug fixes:
* [core/model] Fix addFrame.
* [python/dynamics] Fix update_quantities frames poses not always updated.
* [python/robot] Fix geometry type not properly determine during collision bodies definition substitution.
* [python/simulator] Update internal buffer viewer_backend when creating viewer if necessary.
* [gym] Fix unexpected exception raising if '_fetch_obs' is not consistent with '_refresh_obsveration_space'.

Improvements:
* [core/model|gym] Add small tolerance for Lie algebra bounds to avoid rounding issues.
* [python/robot] Extract motor dynamics from URDF and enable motor friction by default.
* [python/robot] Link with collision geometry associated with fixed joint can now be considered as valid leaf.
* [python/robot] Take into account mesh scale while replacing mesh by minimum volume box vertices.
* [python/robot] Add option to disable automatic collision geometry replacement to avoid numerical instabilities.

Miscellaneous:
* [misc] Update doc of ANYmal URDF file.
* [misc] Add Spotmicro robot example.

Co-authored-by: Alexis Duburcq <alexis.duburcqwandercraft.eu>

This release introduces **new documentation** built using Sphinx and using the official ReadTheDocs style template.

Bug fixes:
* [core/pywrap] Fix constraint attribute getter names.
* [gym] Add missing Tianshou acrobot example.
* [gym] Fix obs not contained in obs space because of '_sensors_data' buffer not being an actual 'dict' object.

Improvements:
* [core/pywrap] Improve bp::dict conversion efficiency by avoiding attribute lookup.
* [core/pywrap] Rename Controller 'register_variable*' for consistency.
* [gym] Do not rescale reward systematically anymore.
* [gym] Add method to get time/state/sensors spaces separately to ease definition of custom obs space.
* [gym] Use OrderedDict instead of dict for observation.
* [gym/locomotion] PID gains 0.0 by default.

Miscellaneous:
* [misc] Minor README + doxygen mainpage update.
* [misc] Drop support of Pinocchio < 2.3.0.
* [misc] Fix python wheel development status.
* [misc] Full PEP8 conformance.
* [misc] Copy C++ documentation in Boost Python bindings.
* [misc] Migrate to Sphinx RTD documentation instead of Doxygen.

Bug fixes:
* [core] Fix segfault when writing log while no data is available.
* [core] Refresh model proxies automatically when position/velocities bounds are modified.
* [python/simulator] Fix bug during initial state retrieval.

Improvements:
* [core] Add getter for max simulation duration.
* [gym] Improve internal buffer management. Add several assertion checks at gym env instantiation.
* [gym] Improvement documentation.
* [gym] Refactor Acrobot and Cartpole RL envs in accordance to official OpenAI Gym implementations.

Miscellaneous:
* [misc] Remove unused toys models.
* [core] Rename 'motor_inertia' in 'motors_inertias' for API consistency.