feat!: require crisp_py 4 - #49
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Follow-up to learnsyslab/crisp_py#82, which migrates the shipped control configs to the vector-valued nullspace params from learnsyslab/crisp_controllers#69.
crisp_gym itself needs no code or config change: it has no references to
nullspace/stiffness/damping/max_tauand ships noconfig/control/. It only names control configs, which resolve viafind_config()tofiles("crisp_py")/config— so the crisp_py PR covers it.Only the pin needs updating, otherwise crisp_gym stays on the old configs against a new controller.
Blocked on crisp_py 4.0.0 being released.
Note for users with site-local control YAMLs on
CRISP_CONFIG_PATH: those need migrating by hand (scalar gains → arrays, dropnullspace.weights.*).