Rtgym

Thread-safe implementation of Real-Time Gym.

Highlights:
- Version `0.13` introduces a new implementation of Real-Time Gym: `"real-time-gym-ts-v1"`. This new implementation relies on signaling via `threading.Event`, which enables `rtgym` to run a single persistent thread in the background (whereas `"real-time-gym-v1"` is spawning and joining a new thread at each time-step). This vastly improves `rtgym`'s thread-safety, but may require careful handling, as waiting for an `Event` that never comes (e.g., because of a crash) may cause your program to hang.
- `"real_time"` and `"async_threading"` were removed from the configuration dictionary, as the behavior for their non-default values was never implemented anyway.

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Added 3 advanced API functions that allow changing the time-wise configuration of `rtgym` environments on-the-fly:
- `set_time_step_duration`
- `set_start_obs_capture`
- `set_ep_max_length`

---

Minor optimizations.

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This version fixes a couple minor bugs related to reset transitions.

In particular, it introduces the `set_default_action` API, and a new entry in the configuration dictionary to chose whether `reset` should send the default action or the last action of the previous episode.

A thorough sanity check has been added in the `tests` folder.

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Version 0.9 improves real-time support around calls to the `reset` function. It also changes the `reset` signature to follow the newer `Gymnasium` API.

⚠️ Breaking changes:
- The signature of `reset` has been updated to `env.reset(seed=None, options=None)` to comply with the newer `Gymnasium` API. This change also affects the `reset` method of `RealTimeGymInterface`.

To update your existing implementations of `RealTimeGymInterface` to the new version of `rtgym`, you can simply replace
python
def reset(self):

by
python
def reset(self, seed=None, options=None):

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Starting from version `0.8`, `rtgym` supports the maintained [gymnasium](https://gymnasium.farama.org) framework instead of the abandoned `gym` framework.

Since `rtgym 0.7` already supported `gym>=0.26`, upgrading your applications to `gymnasium` is straightforward and essentially amounts to replacing all your instances of
python
import gym

by
python
import gymnasium as gym


For more information, read the [migration guide](https://gymnasium.farama.org/content/migration-guide/)