[gym/zoo] Various speed-up. Improve robustness of PGS contact solver to poor conditioning.#770

Merged

duburcqa merged 7 commits intodevfrom misc

Apr 23, 2024

+705-588

Commits on Apr 20, 2024

[core] Solve joint bounds constraints after contacts to improve convergence.
duburcqa
committed
[gym/common] Speedup 'integrate_zoh' by replacing masked vectorization for explicit loop.
duburcqa
committed
[gym/zoo] Speedup Ant, Cartpole and Acrobot environments.
duburcqa
committed

Commits on Apr 21, 2024

[python/simulator] 'plot' now support multi-robot simulations.
duburcqa
committed

Commits on Apr 22, 2024