[gym_jiminy/common] Various minor improvements and bug fixes.#834

Merged

duburcqa merged 11 commits intodevfrom misc

Nov 21, 2024

+151-53

Commits on Nov 20, 2024

Commits on Nov 21, 2024

[gym_jiminy/common] Improve numerical stability and speed of 'swing_from_vector'.
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[gym_jiminy/common] Fix 'quat_multiply' to support in-place operation.
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[gym_jiminy/common] Fix mahony filter leaky integration for very small time constant.
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[gym_jiminy/common] Add twist estimate in internal mahony state if estimated.
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[gym_jiminy/common] Check IMU and flex frames not empty when adding Mahony filter.
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[gym_jiminy/common] Fix base 'BaseJiminyEnv.stop' not called in pipeline.
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[gym_jiminy/common] Support pipelines without any layer.
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[gym_jiminy/common] Add support of 'none' in pipeline config files.
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[gym/common] Add 'ignore_unbounded' optional argument to flatten obs/act wrappers.
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