This new version makes UpkieGroundVelocity a wrapper around UpkieServos, in preparation for non-servo simulation spines. Alongside comes a new example on domain randomization and a regular batch of fixes.

Added

• docs: Install libtinfo5 when building from source on Debian-based distros
• examples: Domain randomization by environment wrapping
• sensors: Sensor pipeline that runs at every spine cycle

Changed

• Breaking: envs: Make UpkieGroundVelocity a wrapper around UpkieServos
• Breaking: envs: Merge base and servos environments
• CICD: Setup Micromamba in coverage job
• Report error messages in simulation script
• Update minimum Gymnasium version to 1.0
• Update palimpsest to version 2.3.2
• cpp: Spine constructor now takes an additional sensor-pipeline argument
• envs: Hard-code spine retries to ten attempts

Fixed

• examples: Fix warning in model predictive control example
• Spine: Fix logging when substepping a simulation spine

Removed

• envs: Remove unused WheeledInvertedPendulum environment