Jiminy release 1.8.6

[duburcqa]

• [core] Make 'jiminy::Model' and 'jiminy::Robot' copyable. ([gym/common] Add simulation vs trajectory quantity evaluation mode. #791)
• [core] Add stairs terrain ([core] Add stairs terrain #797)
• [core] Define position, velocity and effort limits at motor level. ([core] Implement velocity limits at motor-level. #798)
• [core] Implement velocity limits at motor-level. ([core] Implement velocity limits at motor-level. #798)
• [core] Allow direct access to all motors / sensors attached to a robot. ([core] Implement velocity limits at motor-level. #798)
• [core] Remove spring-damper position bounds dynamics to always use constraints. ([core] Implement velocity limits at motor-level. #798)
• [core] Remove damper velocity bounds dynamics. ([core] Implement velocity limits at motor-level. #798)
• [core] Define motor armature option at motor-side. ([core] Implement velocity limits at motor-level. #798)
• [core] Remove dedicated robot attributes for position, velocity and effort limits. ([core] Implement velocity limits at motor-level. #798)
• [core] Remove inefficient motor / sensor convenience helpers of 'Robot'. ([core] Implement velocity limits at motor-level. #798)
• [core] Log total joint effort instead of confusing motor effort on joint side. ([core] Implement velocity limits at motor-level. #798)
• [core] Enable attaching encoders either on motor or joint side. ([core] Implement velocity limits at motor-level. #798)
• [core] Mechanical reduction is now fully supported. ([core] Implement velocity limits at motor-level. #798)
• [core] Fix adding flexibility frame on root joint of fixed-base robot. ([core] Implement velocity limits at motor-level. #798)
• [core] Move 'enable(Velocity|Effort)Limit' options from AbstractMotor to SimpleMotor. ([core] Implement velocity limits at motor-level. #798)
• [core] Add velocity-torque slope when approaching maximum torque. ([core] Implement velocity limits at motor-level. #798)
• [core] Keep track of motor efforts both on motor and joint sides. ([core] Keep track of motor efforts both on motor and joint sides. #801)
• [core] Effort sensors now measure motor effort before transmission. ([core] Keep track of motor efforts both on motor and joint sides. #801)
• [core|python] Various cleanup. ([python] Introduce first-class trajectory object. #790)
• [python] Introduce first-class trajectory object. ([python] Introduce first-class trajectory object. #790)
• [python/log] Fix trajectory and sensor data extraction and replay from log. ([python/replay] Make specifying 'robot' optional in most helpers. #800)
• [python/plot] Get around tabbed figure hanging for 'matplotlib>=3.8'. ([python/plot] Get around tabbed figure hanging for 'matplotlib>=3.8'. #795)
• [python/viewer] Add missing documentation. ([python] Introduce first-class trajectory object. #790)
• [python/replay] Make specifying 'robot' optional in most helpers. ([python/replay] Make specifying 'robot' optional in most helpers. #800)
• [gym/common] Add generic stacked quantity wrapper. ([gym/common] Add generic stacked quantity wrapper. #783)
• [gym/common] Do NOT pass 'truncated' argument to 'compute_reward'. ([gym/common] Add generic stacked quantity wrapper. #783)
• [gym/common] More generic quantity batching. ([gym/common] Add generic stacked quantity wrapper. #783)
• [gym/common] Pass 'info' in argument of 'has_terminated' for consistency. ([gym/common] Add generic stacked quantity wrapper. #783)
• [gym/common] Remove BaseJiminyEnv 'enforce_bounded_spaces' option by lack of use-case. ([gym/common] Add generic stacked quantity wrapper. #783)
• [gym/common] Add masked quantity. ([gym/common] First draft of reward objects. #784)
• [gym/common] Add average odometry velocity quantity. ([gym/common] First draft of reward objects. #784)
• [gym/common] Introduce reward objects. ([gym/common] First draft of reward objects. #784)
• [gym/common] Add locomotion rewards. ([gym/common] First draft of reward objects. #784)
• [gym/common] Add base reward mixture class to ease pipeline instantiation. ([gym/common] Add base reward mixture class to ease pipeline instantiation. #786)
• [gym/common] Add basic survive reward. ([gym/common] Add base reward mixture class to ease pipeline instantiation. #786)
• [gym/common] Increase timeout ratio from 10 to 15 to avoid Mac OS CI failure. ([gym/common] Add base reward mixture class to ease pipeline instantiation. #786)
• [gym/common] Add compose reward pipeline wrapper. ([gym/common] Support specifying reward in pipeline config. #787)
• [gym/common] Support specifying reward in pipeline config. ([gym/common] Support specifying reward in pipeline config. #787)
• [gym/common] Add simulation vs trajectory quantity evaluation mode. ([gym/common] Add simulation vs trajectory quantity evaluation mode. #791)
• [gym/common] Expose trajectory database in quantity manager. ([gym/common] Add support of trajectory reference in reward computation. #792)
• [gym/common] Expose interpolate mode for trajectories. ([gym/common] Add support of trajectory reference in reward computation. #792)
• [gym/common] Add support of trajectory reference in reward computation. ([gym/common] Add support of trajectory reference in reward computation. #792)
• [gym/common] Enable specifying reference trajectories in pipeline config. ([gym/common] Add support of trajectory reference in reward computation. #792)
• [gym/common] Get around some memory alignment issue with Boost < 1.78. ([gym/common] Get around some memory alignment issue with Boost < 1.78. #794)
• [gym/zoo] Update Atlas learning environment. ([python/replay] Make specifying 'robot' optional in most helpers. #800)
• [gym/zoo] Update all robotic environments so that random actions do not trigger truncation. ([core] Keep track of motor efforts both on motor and joint sides. #801)
• [gym/rllib] Add symmetry surrogate loss in rllib custom ppo ([gym] Add symmetry surrogate loss in rllib custom ppo #780)
• [gym/rllib] Fix checkpoint save location. ([gym/rllib] Fix checkpoint saving due to ray >=2.9  #788)
• [gym/rllib] Update checkpoint_dir so it is dependant on iteration number ([gym/rllib] Update checkpoint_dir so it is dependant on iteration number #789)
• [misc] Update install instructions on windows. ([gym/common] Support specifying reward in pipeline config. #787)