refactor(algo_wrapper, configs): rename update cycle and refactor structure

[Gaiejj]

Description

Rename update cycle and refactor structure.

Types of changes

What types of changes does your code introduce? Put an x in all the boxes that apply:

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds core functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation (update in the documentation)

Checklist

Go over all the following points, and put an x in all the boxes that apply.
If you are unsure about any of these, don't hesitate to ask. We are here to help!

• I have read the CONTRIBUTION guide. (required)
• My change requires a change to the documentation.
• I have updated the tests accordingly. (required for a bug fix or a new feature)
• I have updated the documentation accordingly.
• I have reformatted the code using make format. (required)
• I have checked the code using make lint. (required)
• I have ensured make test pass. (required)

[codecov-commenter]

Codecov Report

Merging #213 (287bfe8) into dev (bc91d71) will increase coverage by 1.78%.
The diff coverage is 95.50%.

❗ Current head 287bfe8 differs from pull request most recent head 20fae8d. Consider uploading reports for the commit 20fae8d to get more accurate results

📣 This organization is not using Codecov’s GitHub App Integration. We recommend you install it so Codecov can continue to function properly for your repositories. Learn more

@@            Coverage Diff             @@
##              dev     #213      +/-   ##
==========================================
+ Coverage   95.41%   97.20%   +1.78%     
==========================================
  Files          98       98              
  Lines        4323     4291      -32     
==========================================
+ Hits         4125     4171      +46     
+ Misses        198      120      -78     

Impacted Files	Coverage Δ
omnisafe/algorithms/off_policy/sac.py	100.00% <ø> (+1.28%)	⬆️
omnisafe/algorithms/off_policy/td3.py	100.00% <ø> (+2.70%)	⬆️
omnisafe/utils/command_app.py	84.21% <ø> (+6.79%)	⬆️
omnisafe/utils/config.py	99.35% <ø> (ø)
omnisafe/common/experiment_grid.py	96.41% <80.00%> (+3.30%)	⬆️
omnisafe/common/statistics_tools.py	95.48% <80.00%> (+4.63%)	⬆️
omnisafe/algorithms/on_policy/second_order/cpo.py	94.77% <94.59%> (+24.02%)	⬆️
omnisafe/algorithms/algo_wrapper.py	96.73% <100.00%> (+0.07%)	⬆️
omnisafe/algorithms/off_policy/ddpg.py	100.00% <100.00%> (+2.56%)	⬆️
...isafe/algorithms/on_policy/base/policy_gradient.py	100.00% <100.00%> (ø)
... and 14 more

... and 4 files with indirect coverage changes

📣 We’re building smart automated test selection to slash your CI/CD build times. Learn more

[zmsn-2077]

I think the version can be bumped to 0.4.0. Offline and model-based will be bumped to another version.

[zmsn-2077]

LGTM.

[muchvo]

LGTM.