[core] Add contact solver 'tolAbs', 'tolRel' options. #424
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* [core] Improve efficiency of PGS solver. (#423) * [core] Add contact solver 'tolAbs', 'tolRel' options. (#424) * [core] Enable to initialize 'jiminy::Robot' using dynamics and collision pinocchio model. * [core] Add visual model to 'jiminy::Model'. * [core] Add name getter to 'jiminy::Model'. * [core] Fix wrong computation of external forces. * [core/python] Add method to build reduced model. * [python] Do not rely on 'Robot.urdf_path' anymore. Enable to load hardware config on existing robot. * [python/robot] Check if motors and sensors defined in hardware file can be added successfully. * [python/dynamics] Fix 'compute_freeflyer_state_from_fixed_body' method in fixed body is not provided. * [python/plot] Fix support of matplotlib >= 3.4. * [gym/common] Make sure the provided neutral configuration is valid. * [gym/envs] Tune Cassie PID controllers and model hyperparameters to improve numerical stability. * [gym/envs] Add atlas env with fixed upper body. Tune Cassie and Atlas PID for impulse contact model. * [misc] Stricter gym_jiminy optional deps requirements. (#425) * [misc] Fix documentation generation. * [misc] Fix gym_jiminy wheels deployement on pypi. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu>
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