[gym_jiminy/common] Add 'BodyObserver' to get orientation and angular velocity of IMUs' parent bodies. #844
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duburcqa
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Dec 2, 2024
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duburcqa
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- [gym_jiminy/common] Fix wrong initial RPY observation for Mahony filter.
- [gym_jiminy/common] Add estimated IMU angular velocity to Mahony filter observation.
- [gym_jiminy/common] Add 'BodyObserver' to get orientation and angular velocity of IMUs' parent bodies.
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… velocity of IMUs' parent bodies.
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