v1.0: Build instructions and Gym API

[stephane-caron]

This milestone release accompanies the assembly of new Upkie's following documented build and setup instructions:

In terms of API, it includes rate regulation by default inside Gym environment steps, so that the simplest wheeled balancer is now:

import gym
import upkie.envs

upkie.envs.register()

with gym.make("UpkieWheelsEnv-v2", frequency=200.0) as env:
    observation = env.reset()
    action = 0.0 * env.action_space.sample()
    for step in range(1_000_000):
        observation, reward, done, _ = env.step(action)
        if done:
            observation = env.reset()
        pitch = observation[0]
        action[0] = 10.0 * pitch

Added

• Example: lying genuflections
• Utils: base class and Upkie-specific exceptions

Changed

• Environment: UpkieServosEnv-v2 with frequency regulation
• Environment: UpkieWheelsEnv-v3 with frequency regulation
• Environment: regulate loop frequencies
• Rename ROBOT_NAME to ROBOT in the main Makefile
• Rename main repository and project to just "upkie"
• Update Vulp to v1.2.0

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This discussion was created from the release v1.0.0.