v1.2: Observations of UpkieWheelsEnv

[stephane-caron]

This release makes updates the UpkieWheelsEnv environment to version 4 (id: UpkieWheelsEnv-v4). The major change is vectorized observations have now a different angular velocity, and are ordered as:

0. Base pitch angle
1. Ground position
2. Base (not IMU) angular velocity
3. Ground velocity

In case of doubt, refer to the environment documentation for the semantics of observations and actions.

Added

• tools: add vcgencheck utility script
• tools: make hard_rezero search for upkie_tool and skip if not found

Changed

• build: Compile in optimized mode by default (previsouly: fast build)
• envs: Observation vector reordered, angular velocity is now that of the base.

Fixed

• build: Only run lint tests when --config lint is supplied
• envs: Make sure vectorized observations are float32

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This discussion was created from the releases v1.2.0 and v1.2.1.