Jiminy release 1.8.7

[duburcqa]

• [core] Allow integer reduction ratio at motor level for unbounded revolute joints. ([gym/common] Add more trajectory tracking rewards. #803)
• [core] Add option to log constraint lambda multipliers. ([python|gym] Add contraint lambda multipliers to state and extracted trajectory. #809)
• [core] Replace constraint tree node terminology for registry for clarity. ([python|gym] Add contraint lambda multipliers to state and extracted trajectory. #809)
• [core] Enforce unique constraint name per registry not globally, then remove now irrelevant helpers. ([python|gym] Add contraint lambda multipliers to state and extracted trajectory. #809)
• [core] Make sure no constraint is added/removed if simulation is running. ([python|gym] Add contraint lambda multipliers to state and extracted trajectory. #809)
• [core] Rename 'runge_kutta_dopri5' in 'runge_kutta_dopri' for clarity. ([gym/common] Add foot vertical forces quantity. #810)
• [python/viewer] Fix support of 'matplotlib>=3.9.0'. ([gym/common] Add more trajectory tracking rewards. #803)
• [python/dynamics] Fix trajectory interpolation preferring t+ over t-. ([python|gym] Add contraint lambda multipliers to state and extracted trajectory. #809)
• [python|gym] Add contraint lambda multipliers to state and extracted trajectory. ([python|gym] Add contraint lambda multipliers to state and extracted trajectory. #809)
• [gym/common] Robust deletion of quantities in control flow. ([gym/common] Add more trajectory tracking rewards. #803)
• [gym/common] Add state quantity init guard. ([gym/common] Add more trajectory tracking rewards. #803)
• [gym/common] Add option to disable dynamic computation graph update. ([gym/common] Add more trajectory tracking rewards. #803)
• [gym/common] Add unary operator quantity. ([gym/common] Add more trajectory tracking rewards. #803)
• [gym/common] Add odometry pose quantity. ([gym/common] Add more trajectory tracking rewards. #803)
• [gym/common] Add support of multi-frame quantities. ([gym/common] Add support of multi-frame quantities. #804)
• [gym/common] Add mean quaternion quantity. ([gym/common] Add support of multi-frame quantities. #804)
• [gym/common] Add foot odometry pose quantity. ([gym/common] Add support of multi-frame quantities. #804)
• [gym/common] Add relative foot poses quantity. ([gym/common] Add relative foot poses quantity. #805)
• [gym/common] Add foot vertical forces quantity. ([gym/common] Add foot vertical forces quantity. #810)
• [gym/common] Speed up 'MultiFootRelativeXYZQuat' quantity. ([gym/common] Add new generic quantities and reward components. #807)
• [gym/common] Unify all frame orientation representations as one quantity. ([gym/common] Add relative foot poses quantity. #805)
• [gym/common] Add base angular momentum quantity and reward. ([gym/common] Add new generic quantities and reward components. #807)
• [gym/common] Add relative foot positions and orientations tracking reward. ([gym/common] Add new generic quantities and reward components. #807)
• [gym/common] Add actuated joint tracking reward. ([gym/common] Add more trajectory tracking rewards. #803)
• [gym/common] Add tracking base height reward. ([gym/common] Add more trajectory tracking rewards. #803)
• [gym/common] Add foot pose tracking reward. ([gym/common] Add foot pose tracking reward. #806)
• [gym/common] Add cature point quantity and capture point tracking reward. ([gym/common] Add more trajectory tracking rewards. #803)
• [gym/common] Add angular momentum minimisation reward. ([gym/common] Add angular momentum, stability, and friction rewards. #808)
• [gym/common] Add projected support polygon zmp stability margin maximisation reward. ([gym/common] Add angular momentum, stability, and friction rewards. #808)
• [gym/common] Add ground contact friction minimisation reward. ([gym/common] Add angular momentum, stability, and friction rewards. #808)
• [gym/common] Add foot force distribution reward. ([gym/common] Add foot vertical forces quantity. #810)
• [gym/common] Fix reset of automatically refreshed quantities. ([gym/common] Add more trajectory tracking rewards. #803)
• [gym/common] Fix quantity eval mode handling. ([gym/common] Add more trajectory tracking rewards. #803)
• [gym/common] Fix reward deletion cleanup. ([gym/common] Add more trajectory tracking rewards. #803)
• [gym/common] Fix env action not cleanup at reset. ([gym/common] Add more trajectory tracking rewards. #803)
• [gym/common] More extensive quantities and rewards testing. ([gym/common] Add more trajectory tracking rewards. #803)
• [gym/common] Math utils no longer return values with out is specified. ([gym/common] Add foot pose tracking reward. #806)
• [gym/common] Refresh state quantities only if needed. ([python|gym] Add contraint lambda multipliers to state and extracted trajectory. #809)
• [gym/common] Add 'log3', 'exp3', 'log6', 'exp6', 'quat_difference', 'xyzquat_difference' and 'quat_apply' math utils. ([gym/common] Add new generic quantities and reward components. #807)
• [gym/common] Remove error-prone, confusing and slow 'getattr' fallback in pipelines. ([gym/common] Add angular momentum, stability, and friction rewards. #808)
• [gym/zoo] Re-order motors and sensors to be consistent with joints. ([gym/common] Add more trajectory tracking rewards. #803)
• [misc] Add motor documentation. ([gym/common] Add more trajectory tracking rewards. #803)
• [misc] Fix segfault on windows due to vcruntime conflicts. ([gym/common] Add angular momentum, stability, and friction rewards. #808)