[core] Remove 'System' hierarchy. Remove single-robot 'Engine' class. #728
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* [core] More conservative step adjustment for adaptive steppers. (#724) * [core] Add relaxation to PGS solver to mitigate convergence instabilities. (#726) * [core] Remove unnecessarily confusing 'System' hierarchy. (#728) * [core] Remove single-robot 'Engine' class. (#728) * [python/plot] Synchronise x-axes on all tabs by default. (#724) * [gym/common] Ease debugging of Gym environments. (#724) * [gym/common] Do not enforce 'dtMax'. (#727)
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Fixes #556