Jiminy release 1.8.12 (#884) * [python/dynamics] Fix trajectory interpolation mode 'clip'. (#873) * [python/dynamics] Fix bug making 'Trajectory.get' extremely inefficient. (#881) * [gym_jiminy/common] Fix 'MechanicalPowerConsumption' not exposed. (#870) * [gym_jiminy/common] Add support of 'horizon=None' to MechanicalPowerConsumptionTermination. (#870) * [gym_jiminy/common] Various bug fixes in 'play_interactive'. (#871) * [gym_jiminy/common] Fix quantity caching issues. (#873) * [gym_jiminy/common] Fix mechanical power termination condition. (#873) * [gym_jiminy/common] Fix 'BaseRelativeHeight' quantity ignoring mode. (#873) * [gym_jiminy/common] Remove 'post_fn' argument from drift termination cond. (#873) * [gym_jiminy/common] Add mechanical power consumption reward. (#873) * [gym_jiminy/common] Argument 'horizon' of 'BaseJiminyEnv.evaluate' is now in seconds. (#874) * [gym_jiminy/common] 'TrackingBaseHeightReward' now relies on relative base height rather than absolute. (#874) * [gym_jiminy/common] Rename 'ReferencePositionWithTrueOdometryPose' in 'ReferencePositionVector' and add option to disable odometry pose override. (#874) * [gym_jiminy/common] Add generic 'DeltaQuantity'. (#874) * [gym_jiminy/common] Add 'DeltaBaseOdometryPosition' and 'DeltaBaseOdometryOrientation' quantities. (#874) * [gym_jiminy/common] Add 'DriftTrackingBaseOdometryPoseReward'. (#874) * [gym_jiminy/common] Inline 'InterfaceQuantity.refresh' if possible for efficiency. (#874) * [gym_jiminy/common] Fix 'DriftTrackingBaseOdometryPoseReward' so as to decouple position and orientation errors. (#875) * [gym_jiminy/common] Make sensor space bounds infinite to avoid out-of-bounds measurements due to noise/bias to trigger termination. (#875) * [gym_jiminy/common] Add support of scalar concatenation to 'ConcatenatedQuantity'. (#875) * [gym_jiminy/common] Move PD deadband from PDController to PDAdapter to fix position/velocity inconsistency. (#876) * [gym_jiminy/common] Fix deformation observer with backlash enabled. (#876) * [gym_jiminy/common] Remove LRU cache for trajectory state getter as it never hits in practice. (#877) * [gym_jiminy/common] Fix cache auto-refresh edge-case. (#880) * [gym_jiminy/common] Fix stack length computation from horizon. (#880) * [gym_jiminy/common] Refactor 'DeltaQuantity' to improve performance for long horizon. (#880) * [gym_jiminy/common] Speedup dataset trajectory select. (#882) * [gym_jiminy/common] Fix cache auto-refresh once again. (#882) * [gym_jiminy/common] Fix 'DeltaQuantity' equality. (#882) * [gym_jiminy/common] Speed up quantity reset by avoiding redundant state computations. (#883) * [gym_jiminy/rllib] Rename 'build_eval_runner_from_checkpoint' in 'build_runner_from_checkpoint'. (#870) * [gym_jiminy/toolbox] Do NOT raise exception if score is out-of-bounds. (#871) * [gym_jiminy/toolbox|rllib] Implement task score at scheduler level rather than task settable wrapper level. (#876) * [gym_jiminy/rllib] Fix eval runner connector stats not sync w/ eval. (#870) * [gym_jiminy/rllib] Fix eval runner connector updated during sample collection. (#870) * [gym_jiminy/rllib] Fix connector state not properly restored after loading checkpoint. (#871) * [gym_jiminy/rllib] Add option to override env config when restoring runners. (#872) * [gym_jiminy/rllib] Disable callbacks for evaluation runners by default. (#875) * [gym_jiminy/rllib] Fix log paths not deleted during evaluation. (#877) * [gym_jiminy/rllib] Add option to 'evaluate_from_runner' to delete log files automatically. (#877) * [gym_jiminy/rllib] Make callbacks checkpointable. (#878) * [gym_jiminy/rllib] Restore curriculum state from checkpoints. (#878) * [misc] Add pipeline benchmark script. (#870) * [misc] Fix Sphinx doc (github-pages) broken refs. (#870) * [misc] Fix stub generation for Numpy>=2.X. (#873) * [misc] Fix RL tutorial notebook. (#880)

Jiminy release 1.8.11 (follow-up) (#869) * [core/python] Fix 'SensorMeasurementTree' not supporting instantiation from 'OrderedDict'. (#867) * [core|python] Ground profile now included in persistent log files and automatically loaded for replay. (#867) * [gym_jiminy/common] Move initial state sampling after reset all of the layers of the pipeline. (#867) * [gym_jiminy/common] Fix 'env.stop' not being called at the end of evaluation if keyboard-interrupted. (#867) * [gym_jiminy/common] Fix loaded pipeline config file cannot be instantiated more than once. (#867) * [gym_jiminy/common] Fix 'ScaleObservation' broken for slices. (#868) * [misc] Add support of Python 3.13. (#868)

Jiminy release 1.8.10 (#861) * [core] Properly handle undefined motor velocity bounds. (#849) * [core] Rename 'positionLimit(Min|Max)' in 'positionLimit(Lower|Upper)' for consistency with Pinocchio. (#849) * [core] Move 'logInternalStepperSteps' from 'stepper' to 'telemetry' options for consistency. (#852) * [core] Fix rounding error when computing impulse force breakpoints. (#852) * [core] Fix wrong time 't' when computing derivative after successful integration. (#852) * [core] Fix joint jacobian not systematically updated when dealing with external forces. (#852) * [core] Fix impulse forces internal state not properly reset. (#853) * [core] Set extended pinocchio model velocity and effort limits to INF. (#855) * [core] Improve error handling in 'Engine.read_log'. (#859) * [core/python] Passing invalid bit generator to random processes raises proper exception. (#846) * [python] Improve exception trackback logging as warning. (#856) * [python/simulator] Fix replay of extra log files and trajectories. (#848) * [python/tree] Add specialized 'deepcopy' operator for nested data structure. (#852) * [python/robot] Fix default hardware generation. (#852) * [python/dynamics] 'Trajectory.get' systematically returns by value. (#846) * [python/dynamics] Enable caching of trajectory state for efficiency. (#857) * [gym_jiminy/common] Fix wrong initial RPY observation for Mahony filter. (#844) * [gym_jiminy/common] Add estimated IMU angular velocity to Mahony filter observation. (#844) * [gym_jiminy/common] Add 'BodyObserver' to get orientation and angular velocity of IMUs' parent bodies. (#844) * [gym_jiminy/common] Fix 'BaseJiminyEnv.play_interactive'. (#845) * [gym_jiminy/common] Share base engine measurement through all the layers of the pipeline. (#845) * [gym_jiminy/common] Stop relying on 'true' sensor measurements in computations. (#845) * [gym_jiminy/common] Stop relying on stepper_state to get current time. (#845) * [gym_jiminy/common] Add soft motor effort limit to 'MotorSafetyLimit' block. (#846) * [gym_jiminy/common] 'MultiFootNormalizedForceVertical' raises proper exception in case of non-contiguous contact frames. (#846) * [gym_jiminy/common] Fix sensor noise/bias for locomotion env. (#846) * [gym_jiminy/common] Add aggregated 'terminated', 'truncated' info key for composite env. (#847) * [gym_jiminy/common] Add PD controller mode to force instantaneous state update. (#847) * [gym_jiminy/common] More robust projected support polygon computation. (#847) * [gym_jiminy/common] Clip velocity/acceleration for instantaneously PD target update. (#848) * [gym_jiminy/common] Fix plot of manually registered env variables. (#848) * [gym_jiminy/common] More robust random seed initialization. (#849) * [gym_jiminy/common] Add option to avoid clipping target motor accelerations of PD controller. (#849) * [gym_jiminy/common] Do not overwrite 'BaseJiminyEnv.(observation|action)' if already defined. (#849) * [gym_jiminy/common] Support additional 'special' string when loading pipeline from toml. (#849) * [gym_jiminy/common] 'ConvexHull2D.get_distance_to_point' now supports single query. (#849) * [gym_jiminy/common] Try initializing quantities even if no simulation is running. (#849) * [gym_jiminy/common] Clear exception message if nested key is missing. (#849) * [gym_jiminy/common] Move leaky twist from mahony filter to body observer. (#849) * [gym_jiminy/common] Add target joint velocity deadband to PD controller. (#849) * [gym_jiminy/common] Fix 'ControlledJiminyEnv.action' not reset during setup. (#849) * [gym_jiminy/common] Increase simulation timeout delay. (#849) * [gym_jiminy/common] Fix Mahony filter angular velocity estimate. (#850) * [gym_jiminy/common] Fix partially broken deformation observer. (#850) * [gym_jiminy/common] Make sure that the initial scaled observation is valid. (#850) * [gym_jiminy/common] Plot variables in reverse registeration order. (#852) * [gym_jiminy/common] Jit 'np.mean' for efficiency. (#852) * [gym_jiminy/common] Various minor performance improvements. (#852) * [gym_jiminy/common] Set default (control|observe)_dt in '_setup' instead of 'reset'. (#852) * [gym_jiminy/common] Only register block telemetry variables in debug or evaluation mode. (#852) * [gym_jiminy/common] Fix 'ShiftTrackingQuantityTermination' grace period shorter than horizon. (#853) * [gym_jiminy/common] Fix reliable identity check for enums. (#854) * [gym_jiminy/common] Fix Capture Point quantity initialization messing up with global state. (#854) * [gym_jiminy/common] Fix handling of state initialization failure. (#854) * [gym_jiminy/common] Fix auto-refresh of quantities not working when caching is enabled. (#854) * [gym_jiminy/common] Optimize cache order reset to avoid resetting multiple times the same quantity. (#854) * [gym_jiminy/common] Robust ZMP computation when robot is free falling. (#854) * [gym_jiminy/common] 'sample' does not return 'np.ndarray' systematically. (#855) * [gym_jiminy/common] Add support of 'augment_observation' with reference trajectory in pipeline config file. (#855) * [gym_jiminy/common] Add support of time offset to trajectory dataset. (#855) * [gym_jiminy/common] Fix 'evaluate' total reward computation. (#856) * [gym_jiminy/common] 'BaseJiminyEnv.evaluate' now returns both reward and info history. (#856) * [gym_jiminy/common] Improve performance of composition pipeline. (#857) * [gym_jiminy/common] Refactor 'StackedQuantity' to improve performance for aggregated large stack. (#857) * [gym_jiminy/common] Add 'order' input argument to 'build_flatten'. Speed up 1D special case. (#859) * [gym_jiminy/common] Use fortran order for flattening wrappers 'Flatten(Observation|Action)'. (#859) * [gym_jiminy/common] Train/eval mode API of InterfaceJiminyEnv is now consistent with PyTorch. (#859) * [gym_jiminy/common] Refactor evaluation log file logics to allow for parallel evaluation. (#859) * [gym_jiminy/rllib] Log num steps instead of num iterations in abscisse. Robust eval to unavailable log file. (#847) * [gym_jiminy/rllib] Update acrobot example. (#847) * [gym_jiminy/rllib] Specify infer obs/act mirroring spec in args w/o relying on space. Only support vector obs/act. (#859) * [gym_jiminy/rllib] Fix extremely slow shallow batch copy. (#859) * [gym_jiminy/rllib] Fix broken 'MeanStdFilter' for 'ray<=2.40'. (#859) * [gym_jiminy/rllib] Fix true action mean computation. (#860) * [gym_jiminy/rllib] Monkey patch RLlib. (#860) * [misc] Rename 'mesh_path_dir' in 'mesh_dir_path' for consistency. (#848) * [misc] Cleanup linux build from source script. (#848) * [misc] Add support of 'gymnasium==1.0'. (#859) * [misc] Add support of 'ray[rllib]==2.40'. (#859)

Jiminy release 1.8.9 (#843) * [core] Fix symbol visibility issues for some classes on windows. (#836) * [core] Fix bindings and serialization of convex geometry meshes. (#836) * [core] Fix 'array_copyto' helper. (#841) * [python/viewer] Fix 'add_camera'. (#831) * [python/viewer] Use firefox instead of chromium for offscreen rendering with meshcat to fix rendering on MacOS VM. (#832) * [python/viewer] Fix support of '-' in robot name. (#834) * [python/viewer] Fix conversion of 'hppfcl.Convex' to Panda3D. (#836) * [python/dynamics] Take into account stride offset when trajectory time is wrapping. (#838) * [python|gym_jiminy] More natural figure layout to improve readability. (#837) * [gym_jiminy/common] Do not permanently alter original simulation options with enabling debug and/or evaluation modes. (#832) * [gym_jiminy/common] Disallow switch between evaluation and training mode when a simulation is running. (#832) * [gym_jiminy/common] Rewrite binary log file automatically when calling 'BaseJiminyEnv.stop' in debug or evaluation mode. (#832) * [gym_jiminy/common] Fix replay if no simulation is running. (#832) * [gym_jiminy/common] Add previous action as input argument for evaluation policy callback. (#832) * [gym_jiminy/common] Automatic environment pipeline update. (#832) * [gym_jiminy/common] Fix composed reward computation. (#832) * [gym_jiminy/common] Use metaclass instead of inheritence for abstract classes. (#832) * [gym_jiminy/common] Enable typing of the obs and action spaces for 'gym.Env'. (#832) * [gym_jiminy/common] Fix nested gym space helpers. (#832) * [gym_jiminy/common] Update documentation. (#832) * [gym_jiminy/common] Fix missing final state when writing eval/debug log. (#834) * [gym_jiminy/common] Improve numerical stability and speed of 'swing_from_vector'. (#834) * [gym_jiminy/common] Fix 'quat_multiply' to support in-place operation. (#834) * [gym_jiminy/common] Fix mahony filter leaky integration for very small time constant. (#834) * [gym_jiminy/common] Add twist estimate in internal mahony state if estimated. (#834) * [gym_jiminy/common] Check IMU and flex frames not empty when adding Mahony filter. (#834) * [gym_jiminy/common] Fix base 'BaseJiminyEnv.stop' not called in pipeline. (#834) * [gym_jiminy/common] Support pipelines without any layer. (#834) * [gym_jiminy/common] Add support of 'none' in pipeline config files. (#834) * [gym_jiminy/common] Add 'ignore_unbounded' optional argument to flatten obs/act wrappers. (#834) * [gym_jiminy/common] Add 'AdaptLayoutObservation' that generalizes 'FilterObservation'. (#835) * [gym_jiminy/common] Make sure that the initial pd state is within bounds. (#835) * [gym_jiminy/common] Add 'compute_rpy' optional argument to mahony observer. (#837) * [gym_jiminy/common] Add 'compute_rpy' optional argument to deformation estimator. (#837) * [gym_jiminy/common] Fix trajectory file never closed if loading fails. (#838) * [gym_jiminy/common] Add locking mechanism to trajectory databaset. (#838) * [gym_jiminy/common] More robust pipeline registration mechanism. (#838) * [gym_jiminy/common] Add composition wrapper before observer-controller blocks. (#838) * [gym_jiminy/common] Enable env composition to augment the observation space with trajectory reference. (#838) * [gym_jiminy/common] Add 'QuantityObserver' block. (#838) * [gym_jiminy/common] Fix 'AdditiveMixtureReward' for 'order=inf'. (#838) * [gym_jiminy/common] Support string representation of enums in pipeline config. (#838) * [gym_jiminy/common] Fix partially broken 'spaces.build_reduce'. (#839) * [gym_jiminy/common] Add 'ScaleObservation', 'ScaleAction' env pipeline wrapper blocks. (#839) * [gym_jiminy/common] Faster env pipeline. (#841) (#842) * [gym_jiminy/toolbox] Add support of arbitrarily nested task-settable env. (#832) * [gym_jiminy/envs] Add mirror mat to obs/action spaces. (#832) * [gym_jiminy/rllib] Full refactoring to support ray-rllib 2.38. (#832) * [misc] Update core dependencies. (#831) * [misc] Use unique numpy C API symbols for jiminy. (#831) * [misc] Drop support of Python<3.10. (#831) * [misc] Use 4 cores to build from source. (#831) * [misc] Move to macos-14 on Github Action (forcing panda3d tinydisplay driver). (#832) * [misc] Cleanup MacOS CI workflow. (#833) * [misc] Move from 'toml' to 'tomlkit' to fix heterogeneous array support. (#835) * [misc] Fix acrobot example eval max horizon. (#837)

Jiminy release 1.8.8 (#827) * [core] Fix robot serialization issue. (#821) * [core] Minor improvement periodic Perlin process and periodic stair ground. (#799) * [core] 'PeriodicGaussianProcess' and 'PeriodicFourierProcess' are now differentiable. (#799) * [core] Fix negative time support for all existing random processes. (#799) * [core] Add N-dimension Perlin processes. (#799) (#823) * [core] Add gradient computation for all Perlin processes. (#799) (#823) (#825) * [core] Make all Perlin processes faster and copy-able. (#799) * [core] Add Perlin ground generators. (#799) * [core] Replace MurmurHash3 by xxHash32 which is faster. (#824) * [core] Make gradient computation optional for heightmap functions. (#824) * [jiminy_py] Fix 'tree.unflatten_as' mixing up key order for 'gym.spaces.Dict'. (#819) * [python/simulator] Consistent keyword arguments between 'Simulator.build' and 'Simulator.add_robot'. (#821) * [python/viewer] Fix MacOS support. (#822) * [python/viewer] Add support of user-specified extra cameras (rgb and depth). (#826) * [python/viewer] Significantly speed-up both offscreen and onscreen rendering for Panda3D. (#826) * [gym/common] More generic stacking quantity. (#812) * [gym/common] Add termination condition abstraction. (#812) * [gym/common] Add quantity shift and drift tracking termination conditions. (#812) * [gym/common] Add support of termination composition in pipeline environments. (#812) * [gym/common] Add base roll/pitch termination condition. (#813) * [gym/common] Add base relative height termination condition. (#813) * [gym/common] Add foot collision termination condition. (#813) * [gym/common] More generic actuated joint kinematic quantity. (#814) * [gym/common] Add multi-ary operator quantity. (#814) * [gym/common] Add safety limits termination condition. (#814) * [gym/common] Add robot flying termination condition. (#815) * [gym/common] Add power consumption termination condition. (#816) * [gym/common] Add ground impact force termination condition. (#816) * [gym/common] Add base odometry pose drift tracking termination condition. (#817) * [gym/common] Add motor positions shift tracking termination condition. (#817) * [gym/common] Add relative foot odometry pose shift tracking termination conditions. (#820) * [gym/common] Add unit test checking that observation wrappers preserve key ordering. (#820) * [gym/common] Fix quantity hash collision issue in quantity manager. (#821) * [gym/common] Refactor quantity management to dramatically improve its performance. (#821) * [gym/common] Add 'order' option to 'AdditiveReward'. (#821) * [misc] Fix missing compositions documentation. (#812) --------- Co-authored-by: Mathias Wulfman <101942083+mwulfman@users.noreply.github.com>

[misc] Update release patch tag. 

Jiminy release 1.8.6 (#802) * [core] Make 'jiminy::Model' and 'jiminy::Robot' copyable. (#791) * [core] Add stairs terrain (#797) * [core] Define position, velocity and effort limits at motor level. (#798) * [core] Implement velocity limits at motor-level. (#798) * [core] Allow direct access to all motors / sensors attached to a robot. (#798) * [core] Remove spring-damper position bounds dynamics to always use constraints. (#798) * [core] Remove damper velocity bounds dynamics. (#798) * [core] Define motor armature option at motor-side. (#798) * [core] Remove dedicated robot attributes for position, velocity and effort limits. (#798) * [core] Remove inefficient motor / sensor convenience helpers of 'Robot'. (#798) * [core] Log total joint effort instead of confusing motor effort on joint side. (#798) * [core] Enable attaching encoders either on motor or joint side. (#798) * [core] Mechanical reduction is now fully supported. (#798) * [core] Fix adding flexibility frame on root joint of fixed-base robot. (#798) * [core] Move 'enable(Velocity|Effort)Limit' options from AbstractMotor to SimpleMotor. (#798) * [core] Add velocity-torque slope when approaching maximum torque. (#798) * [core] Keep track of motor efforts both on motor and joint sides. (#801) * [core] Effort sensors now measure motor effort before transmission. (#801) * [core|python] Various cleanup. (#790) * [python] Introduce first-class trajectory object. (#790) * [python/log] Fix trajectory and sensor data extraction and replay from log. (#800) * [python/plot] Get around tabbed figure hanging for 'matplotlib>=3.8'. (#795) * [python/viewer] Add missing documentation. (#790) * [python/replay] Make specifying 'robot' optional in most helpers. (#800) * [gym/common] Add generic stacked quantity wrapper. (#783) * [gym/common] Do NOT pass 'truncated' argument to 'compute_reward'. (#783) * [gym/common] More generic quantity batching. (#783) * [gym/common] Pass 'info' in argument of 'has_terminated' for consistency. (#783) * [gym/common] Remove BaseJiminyEnv 'enforce_bounded_spaces' option by lack of use-case. (#783) * [gym/common] Add masked quantity. (#784) * [gym/common] Add average odometry velocity quantity. (#784) * [gym/common] Introduce reward objects. (#784) * [gym/common] Add locomotion rewards. (#784) * [gym/common] Add base reward mixture class to ease pipeline instantiation. (#786) * [gym/common] Add basic survive reward. (#786) * [gym/common] Increase timeout ratio from 10 to 15 to avoid Mac OS CI failure. (#786) * [gym/common] Add compose reward pipeline wrapper. (#787) * [gym/common] Support specifying reward in pipeline config. (#787) * [gym/common] Add simulation vs trajectory quantity evaluation mode. (#791) * [gym/common] Expose trajectory database in quantity manager. (#792) * [gym/common] Expose interpolate mode for trajectories. (#792) * [gym/common] Add support of trajectory reference in reward computation. (#792) * [gym/common] Enable specifying reference trajectories in pipeline config. (#792) * [gym/common] Get around some memory alignment issue with Boost < 1.78. (#794) * [gym/zoo] Update Atlas learning environment. (#800) * [gym/zoo] Update all robotic environments so that random actions do not trigger truncation. (#801) * [gym/rllib] Add symmetry surrogate loss in rllib custom ppo (#780) * [gym/rllib] Fix checkpoint save location. (#788) * [gym/rllib] Update checkpoint_dir so it is dependant on iteration number (#789) * [misc] Update install instructions on windows. (#787)

[misc] Update release tweak tag. 

[core] Fix partially broken step adjustment optim that could lead to … …integration fail.

Jiminy release 1.8.4 (#769) * [core] Fix bias/noise check for EncoderSensor. (#744) * [core] Fix some symbols not exported by mistake. (#742) * [core] Catch exception during stepper integration. (#747) * [core] Clarify terminology: 'Rigid' by 'Mechanical', 'Original' by 'Theoretical', 'Actual' by 'Extended'. (#753) (#762) (#763) * [core] More appropriate tolerance when checking GCD to avoid false positive. (#753) * [core] User is now systematically responsible for serializing constants before telemetry registration. (#753) * [core] Various cleanup and minor improvements. (#753) * [core] Add 'JIMINY' namespace to macros. (#755) * [core] Add methods to get / set all simulation options at once. (#760) * [core] More robust set/get options logics. (#761) * [core] Add backlash support at motor-level. (#767) * [core|python/simulator] Cleanup get/set options for multi-robot simulations. (#758) * [core/python] Faster 'array_copyto'. (#740) * [core/python] Do not export bindings. (#742) * [core/python] Expose more convenience getters. (#748) * [core/python] Add method to query heightmaps on multiple positions at once. (#750) * [python/viewer] Fix arrow maker for negative length with panda3d backend. * [python/viewer] Fix arrow marker for 'anchor_top=True' with panda3d. * [python/viewer] Fix viewer automatic closing during repley not working. (#756) * [python/simulator] First-class multi-robot support. (#754) (#766) * [python/plot] Add multi-robot support. (#764) * [gym/common] Fix corrupted robot proxy if model changes. (#746) * [gym/common] Introduce new first-class quantity manager. (#749) (#751) (#752) (#756) * [gym/common] Initialize sensor measurements at init. (#750) * [gym/common] Plot state, action and features of all pipeline blocks. (#750) * [gym/common] PD controller now satisfies position, velocity and acceleration bounds. (#750) (#765) (#768) * [gym/common] Allows PD control with position action. (#750) * [gym/common] Remove PD target dead band. (#750) * [gym/common] Decouple PD controller action order adapter from acceleration integration. (#764) * [gym/common] Refactor 'compute_command' to operate in-place. (#764) * [gym/rllib] Migrate from ray[rllib]==2.5.0 to 2.9.*. (#739) * [misc] Fix documentation formating. * [misc] Add YAPF formatting configuration (opt-in). (#739) * [misc] More robust build scripts. (#739) * [misc] Allow failure when installing gym_jiminy add-on modules. (#739) * [misc] Run all unit tests for gym jiminy base modules on Python 3.12 and Debug. (#739) * [misc] Support Numpy 2.0.0b1. (#740) * [misc] Upgrade C++ dependencies. (#741) * [misc] Fix compilation on Windows ARM64. (#746) * [misc] Fix numpy version requirement. (#750) * [misc] Update documentation. (#750) --------- Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> Co-authored-by: Grégoire Roussel <gregoire.roussel@wandercraft.eu> Co-authored-by: Amandine <amandine.chupin@wandercraft.health>