Jiminy-py

Every dependency but Boost.Python is now statically linked. Window wheel now bundles dynamic libraries in the same way Linux wheel does.

Miscellaneous:
* [misc] Use static linkage for every Boost components, except Boost Python.
* [misc] Add auditwheel-like processing to sanitize windows Python wheels.

It is now possible to export/import log files in HDF5 format. [HDF5](https://portal.hdfgroup.org/display/HDF5/Introduction+to+HDF5) is especially well suited for storing log data because it enables to compress and extract each variable individually and only when needed. It also enables to store metadata directly with data, which is very helpful to store information required to reproduce results.

New features:
* [core|python] Add import/export logs to HDF5 format.

Improvements:
* [misc] Improve re-run-ability of automatic build dependencies scripts.

Miscellaneous:
* [misc] Enable optimizations in build dependencies scripts.
* [misc] Disable completely build docs in build dependencies scripts.
* [misc] Disable dev warnings in build dependencies scripts.
* [misc] Quiet Git reset of submodules in build dependencies scripts.
* [misc] Add HDF5 SOUP dependency.
* [gym] Disable flaky Acrobot learning unit test.

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>