Refactoring

[duburcqa]

• Move the controller as part of the robot (check if it can use the logic in BaseJiminyEnv._setup) ([core] Get rid of confusing system hierarchy #556)

• Get rid of use_theoretical_model. ([python] Get rid of use_theoretical_model #574)

• Backup hardware configuration in log files and enable loading it

  • Move build_robot_from_log from Python to C++
  • Check that updating contact sensor and plotting is working as expected when built from log ([python/viewer] Update contact sensor data when replaying log file. #337)
  • Split robot_description and engine_option files (instead of hardware + options)
  • Replace options to set flexibility by add_flexibility / remove_flexibility (just keep enable/disable option)
    • It should make the json serialization a bit more simple

• Full support of EngineMultiRobot in Python

  • Get rid of Engine in favor of EngineMultiRobot, itself renamed in Engine
  • Use controller's telemetry instead of engine to log robot-specific variables ([core] Use controller's telemetry instead of engine to log robot-specific variables. #256)
  • Refactor jiminy.Simulator and gym_jiminy.common.BaseJiminyEnv ([python] Full support of EngineMultirobot in Python. #246)
  • Add support of multi-agent learning:
    • No dedidacted subclass: if more than one agent, just add their respective system name as highest-level hierarchy for both the observation and action
    • Single controller handle with id dispatcher
    • Unit test for learning: two simple cart-table systems with connected cart by a spring that must hold straight with random init
  • Support multi-robot simulator log replay and plot, plus add unit-test for it.

• Update gym_jiminy dependencies (gym>=0.26.0,<1.0.0 and ray>=2.0.0,<2.1.0)

  • Refactoring of render_modes metadata, step method (terminated,truncated), render (no extra args), reset (merged with seed method, use np_random getter/setter to set custom generator and use _np_random attribute), spaces (reset seed using Space.seed)
  • Refactoring of training algorithm API to be object-orientation instead of functional

• Split the notion of viewer from view ([python/viewer] Split the notions of view and Viewer. #513)

• Add force getter to AbstractConstraint ([core] Add force getter to AbstractConstraint #471)

• Random number generator local to Engine instead of global ([core] Random number generator local to Engine instead of global #421)

• (optional) Remove old CSV log file format ([core] Remove CSV log file format. #507)