[python|gym] Add contraint lambda multipliers to state and extracted trajectory. #809
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duburcqa
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Jun 16, 2024
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duburcqa
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- [core] Add option to log constraint lambda multipliers.
- [core] Replace constraint tree node terminolgy for registry for clarity.
- [core] Enforce unique constraint name per registry not globally, then remove now irrelevant helpers.
- [core] Make sure no constraint is added/removed if simulation is running.
- [python|gym] Add contraint lambda multipliers to state and extracted trajectory.
- [python/dynamics] Fix trajectory interpolation preferring t+ over t-.
- [gym/common] Refresh state quantities only if needed.
…ved if simulation is running.
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…trajectory. (#809) * [core] Add option to log constraint lambda multipliers. * [core] Replace constraint tree node terminolgy for registry for clarity. * [core] Enforce unique constraint name per registry not globally, then remove now irrelevant helpers. * [core] Make sure no constraint is added/removed if simulation is running. * [python|gym] Add contraint lambda multipliers to state and extracted trajectory. * [python/dynamics] Fix trajectory interpolation preferring t+ over t-. * [gym/common] Refresh state quantities only if needed.
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