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pendulum bam #6

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budzianowski
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Uses optuna (whatever it is) for direct comparison with bam - should be moved to torch later on.

We run one simulation app and reset environment at each iteration.
Friction, stiffness, damping can be set each time articulation is called
Armature is set at the start of the simulation in physx data (IsaacLab/blob/main/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py#L486).
env.env.env.scene._articulations["robot"].write_joint_armature_to_sim(model.armature.value)

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@budzianowski @alik-git