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See Issue #2156
First change is using the identity that -sin(x + pi) = sin(x)
Second change is the fact that the angular velocity is clipped to the predefined range before being applied to the state of the environment. This way, we are guaranteed that the actual change of the angle between two consecutive timesteps will be constrained in the (-max_speed, max_speed) range. The change in the actual dynamics of the environment is minimal, but technically can be non-zero, so I bumped the version to Pendulum-v1.