env.py: Dynamics- and Speed-based environment classes,
vehicle.py: Motor parameters,
simulation.py: Motor simulation,
helpers.py: Added function to learn speed-to-voltage conversion given a motor

simulation.py: z coord points up in body and inertial frames, rearranging variable indices to match gazebo calculations (pos, vel, orientation, angular rate), propeller reset does not overwrite params, thrust-constant based thrust function.

physics.py: rearranged state variable indices, changed d(velocity) equations so forces act in correct direction, given pwhich direction is assumed as positive angle. Previously positive torque was causing negative x/y motion due to inverted axes.

helpers.py: bugfix in calculating control allocation matrix. x-moment is due to y-distances. Approproate signs conventions for positive moments.

control.py: New iteration of controllers (Att, Alt, Pos, Controller) which work properly when cascaded.

simulation/physics: making dxdt() method pure for integration and adding torque of spinning propellers

helpers: bugfix in vehicle_params_factory where Propeller() class was instantiated instead of PropellerParams().
simulation: time attribute for tracking simulation progress.
vehicle: added some placeholder constants for torque/thrust calculations.
visualize: uses FuncAnimation() and optionally draws body axes on vehicle.

Trajectory of multirotor shows only after the loop with all actions is finished. Need to find way to make updates to plot live.

Errors when plotting outside notebook environment via ssh with x-display. TODO.