feat: rebase CRPO from PPO to TRPO

[Gaiejj]

Description

The original implementation of CRPO uses TRPO as the base algorithm.
We rebase the on-policy version of CRPO, that is, OnCRPO, from PPO to TRPO, and tune the config file.
We evaluate the new implementation in the following environment in SafetyGymnasium:
SafetyCarGoal1-v0

SafetyPointGoal1-v0

SafetyAntVelocity-v1

SafetyHalfCheetahVelocity-v1

SafetyHopperVelocity-v1

SafetyHumanoidVelocity-v1

SafetyWalker2dVelocity-v1

SafetySwimmerVelocity-v1

Motivation and Context

The performance of CRPO can not reach our expectation and it is different from original implementation.

Types of changes

What types of changes does your code introduce? Put an x in all the boxes that apply:

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds core functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation (update in the documentation)

Checklist

Go over all the following points, and put an x in all the boxes that apply.
If you are unsure about any of these, don't hesitate to ask. We are here to help!

• I have read the CONTRIBUTION guide. (required)
• My change requires a change to the documentation.
• I have updated the tests accordingly. (required for a bug fix or a new feature)
• I have updated the documentation accordingly.
• I have reformatted the code using make format. (required)
• I have checked the code using make lint. (required)
• I have ensured make test pass. (required)

[codecov-commenter]

Codecov Report

Merging #254 (4f45f49) into main (af2951d) will decrease coverage by 0.03%.
The diff coverage is 100.00%.

❗ Current head 4f45f49 differs from pull request most recent head cf6fdb3. Consider uploading reports for the commit cf6fdb3 to get more accurate results

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@@            Coverage Diff             @@
##             main     #254      +/-   ##
==========================================
- Coverage   97.01%   96.98%   -0.03%     
==========================================
  Files         138      138              
  Lines        6989     6990       +1     
==========================================
- Hits         6780     6779       -1     
- Misses        209      211       +2     

Impacted Files	Coverage Δ
omnisafe/algorithms/on_policy/primal/crpo.py	91.30% <100.00%> (+0.40%)	⬆️

... and 1 file with indirect coverage changes

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[muchvo]

LGTM.