New features

• Added SharedObject to create/mount objects stored in SharedMemory
• Enabled RSDevice to run as a separate process (now Camera will create RSDevice as a separate process)
• Enabled RSDevice to record camera streams as a rosbag file
• Enabled XArm7 to run as a separate process (for streaming robot states)
• Enabled CV2Visualizer and O3DGUIVisualizer to run as separate processes (for visualization)
• Added a default FileHandler to all Logger created through real_robot.utils.logger.get_logger
• Allow enabling selected camera streams from RSDevice and sensors.camera.Camera
• Added sensors.simsense_depth.SimsenseDepth class to generate depth image from stereo IR images

API changes

• real_robot.agents.xarm
  • Change XArm7 parameters for clarity (safety_boundary => safety_boundary_mm, boundary_clip_eps => boundary_clip_mm)
  • Add get_gripper_position() to get gripper opening width in mm or m
  • Add gripper_speed parameter to set_action() to control gripper speed
• real_robot.utils.visualization.visualizer
  • Rename Visualizer method show_observation() => show_obs()
• real_robot.sensors.camera
  • CameraConfig now accepts a config parameter
  • Rename CameraConfig parameter parent_pose_fn => parent_pose_so_name
• real_robot.utils.realsense
  • RSDevice now accepts device_sn instead of an rs.device
  • RSDevice now accepts config as parameter (width, height, fps) instead of rs.config

Other changes

• Switch from gym to gymnasium
• Rename all control_mode by removing pd_ prefix for clarity. No PD controller is used.
• real_robot.agents.xarm
  • XArm7 will not clear "Safety Boundary Limit" error automatically in set_action()
  • For motion_mode == "position", switch from using set_tool_position() to set_position()
  • Enable gripper and set to maximum speed in reset()
• Remove all Loggers created as global variables (they will be created at import, which might not be saved under REAL_ROBOT_LOG_DIR)
• Bugfix in xArm-Python-SDK: enable wait=True for modes other than position mode

• Added motion_mode to XArm7 agent
• Added several control_mode: pd_ee_pos, pd_ee_pose_axangle, pd_ee_delta_pose_axangle, pd_ee_pose_quat, pd_ee_delta_pose_quat