v2.3.0

This release introduces reporting of groundtruth simulation quantities from Bullet as extra observations to agents. For example, to monitor the number of contact points on designated robot bodies:

spine_config["bullet"]["monitor"] = {
    "contacts": {"left_wheel_tire": True, "right_wheel_tire": True}
}

with gym.make("UpkieGroundVelocity-v3", spine_config=spine_config) as env:
    your_agent(env)

It also fixes https://github.com/upkie/vulp/issues/92 for macOS users thanks to @ubgk 👍

Added

• Build test for the pi3hat interface
• BulletInterface: internal get_link_index memoization
• BulletInterface: introduce "monitor" configuration dictionary
• BulletInterface: report contacts to bodies specified in configuration
• CICD: Add a workflow for the pi3hat build test
• Introduce observe method in actuation interfaces

Changed

• CICD: Rename bazel.yml to ci.yml for consistency with other repos
• Pi3HatInterface: make get_angular_velocity private
• Pi3HatInterface: make get_attitude private
• Pi3HatInterface: make get_linear_acceleration private
• Pi3HatInterface: make imu_data private

Fixed

• CICD: Clean up redundant Python build jobs
• SpineInterface: Remove leading slashes from shared memory object names

Removed

• Clean up unused MockInterface::get_angular_velocity
• Clean up unused MockInterface::get_attitude
• Clean up unused MockInterface::get_linear_acceleration
• Remove imu_data getter from actuation interfaces
• Remove observe_imu function from observations