Upgrade gym to gymnasium

.github/poetry/cpu/poetry.lock

@@ -793,44 +793,6 @@ files = [
 [package.extras]
 protobuf = ["grpcio-tools (>=1.62.1)"]
 
-[[package]]
-name = "gym"
-version = "0.26.2"
-description = "Gym: A universal API for reinforcement learning environments"
-optional = false
-python-versions = ">=3.6"
-files = [
-    {file = "gym-0.26.2.tar.gz", hash = "sha256:e0d882f4b54f0c65f203104c24ab8a38b039f1289986803c7d02cdbe214fbcc4"},
-]
-
-[package.dependencies]
-cloudpickle = ">=1.2.0"
-gym_notices = ">=0.0.4"
-numpy = ">=1.18.0"
-
-[package.extras]
-accept-rom-license = ["autorom[accept-rom-license] (>=0.4.2,<0.5.0)"]
-all = ["ale-py (>=0.8.0,<0.9.0)", "box2d-py (==2.3.5)", "imageio (>=2.14.1)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (==2.2)", "mujoco_py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (==2.1.0)", "pytest (==7.0.1)", "swig (==4.*)"]
-atari = ["ale-py (>=0.8.0,<0.9.0)"]
-box2d = ["box2d-py (==2.3.5)", "pygame (==2.1.0)", "swig (==4.*)"]
-classic-control = ["pygame (==2.1.0)"]
-mujoco = ["imageio (>=2.14.1)", "mujoco (==2.2)"]
-mujoco-py = ["mujoco_py (>=2.1,<2.2)"]
-other = ["lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-python (>=3.0)"]
-testing = ["box2d-py (==2.3.5)", "imageio (>=2.14.1)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (==2.2)", "mujoco_py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (==2.1.0)", "pytest (==7.0.1)", "swig (==4.*)"]
-toy-text = ["pygame (==2.1.0)"]
-
-[[package]]
-name = "gym-notices"
-version = "0.0.8"
-description = "Notices for gym"
-optional = false
-python-versions = "*"
-files = [
-    {file = "gym-notices-0.0.8.tar.gz", hash = "sha256:ad25e200487cafa369728625fe064e88ada1346618526102659b4640f2b4b911"},
-    {file = "gym_notices-0.0.8-py3-none-any.whl", hash = "sha256:e5f82e00823a166747b4c2a07de63b6560b1acb880638547e0cabf825a01e463"},
-]
-
 [[package]]
 name = "gymnasium"
 version = "0.29.1"
@@ -3254,4 +3216,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.10"
-content-hash = "2c49c37a048b4298ca81f3c0a304021129148a0b4746208c14117b3423d9a67f"
+content-hash = "93c406139c456780b3d309d7ed3d68ea60cc0e8893c1ee717692984e573d3404"

.github/poetry/cpu/pyproject.toml

@@ -42,7 +42,6 @@ torch = {version = "^2.2.1", source = "torch-cpu"}
 tensordict = {git = "https://github.com/pytorch/tensordict"}
 torchrl = {git = "https://github.com/pytorch/rl", rev = "13bef426dcfa5887c6e5034a6e9697993fa92c37"}
 mujoco = "^2.3.7"
-gym = "^0.26.2"
 opencv-python = "^4.9.0.80"
 diffusers = "^0.26.3"
 torchvision = {version = "^0.17.1", source = "torch-cpu"}
@@ -52,6 +51,7 @@ dm-control = "1.0.14"
 robomimic = "0.2.0"
 huggingface-hub = "^0.21.4"
 gymnasium-robotics = "^1.2.4"
+gymnasium = "^0.29.1"
 
 
 [tool.poetry.group.dev.dependencies]

lerobot/common/envs/aloha/env.py

@@ -31,7 +31,7 @@ from lerobot.common.envs.aloha.tasks.sim_end_effector import (
 from lerobot.common.envs.aloha.utils import sample_box_pose, sample_insertion_pose
 from lerobot.common.utils import set_seed
 
-_has_gym = importlib.util.find_spec("gym") is not None
+_has_gym = importlib.util.find_spec("gymnasium") is not None
 
 
 class AlohaEnv(AbstractEnv):

lerobot/common/envs/pusht/env.py

@@ -18,7 +18,7 @@ from torchrl.envs.libs.gym import _gym_to_torchrl_spec_transform
 from lerobot.common.envs.abstract import AbstractEnv
 from lerobot.common.utils import set_seed
 
-_has_gym = importlib.util.find_spec("gym") is not None
+_has_gym = importlib.util.find_spec("gymnasium") is not None
 
 
 class PushtEnv(AbstractEnv):

lerobot/common/envs/pusht/pusht_env.py

@@ -1,14 +1,14 @@
 import collections
 
 import cv2
-import gym
+import gymnasium as gym
 import numpy as np
 import pygame
 import pymunk
 import pymunk.pygame_util
 import shapely.geometry as sg
 import skimage.transform as st
-from gym import spaces
+from gymnasium import spaces
 from pymunk.vec2d import Vec2d
 
 from lerobot.common.envs.pusht.pymunk_override import DrawOptions

lerobot/common/envs/pusht/pusht_image_env.py

@@ -1,5 +1,5 @@
 import numpy as np
-from gym import spaces
+from gymnasium import spaces
 
 from lerobot.common.envs.pusht.pusht_env import PushTEnv
 

lerobot/common/envs/simxarm/env.py

@@ -20,7 +20,6 @@ from lerobot.common.utils import set_seed
 MAX_NUM_ACTIONS = 4
 
 _has_gym = importlib.util.find_spec("gymnasium") is not None
-# _has_simxarm = importlib.util.find_spec("simxarm") is not None and _has_gym
 
 
 class SimxarmEnv(AbstractEnv):

lerobot/common/envs/simxarm/simxarm/__init__.py

@@ -1,8 +1,8 @@
 from collections import OrderedDict, deque
 
-import gym
+import gymnasium as gym
 import numpy as np
-from gym.wrappers import TimeLimit
+from gymnasium.wrappers import TimeLimit
 
 from lerobot.common.envs.simxarm.simxarm.task.base import Base as Base
 from lerobot.common.envs.simxarm.simxarm.task.lift import Lift

poetry.lock

@@ -783,44 +783,6 @@ files = [
 [package.extras]
 protobuf = ["grpcio-tools (>=1.62.1)"]
 
-[[package]]
-name = "gym"
-version = "0.26.2"
-description = "Gym: A universal API for reinforcement learning environments"
-optional = false
-python-versions = ">=3.6"
-files = [
-    {file = "gym-0.26.2.tar.gz", hash = "sha256:e0d882f4b54f0c65f203104c24ab8a38b039f1289986803c7d02cdbe214fbcc4"},
-]
-
-[package.dependencies]
-cloudpickle = ">=1.2.0"
-gym_notices = ">=0.0.4"
-numpy = ">=1.18.0"
-
-[package.extras]
-accept-rom-license = ["autorom[accept-rom-license] (>=0.4.2,<0.5.0)"]
-all = ["ale-py (>=0.8.0,<0.9.0)", "box2d-py (==2.3.5)", "imageio (>=2.14.1)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (==2.2)", "mujoco_py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (==2.1.0)", "pytest (==7.0.1)", "swig (==4.*)"]
-atari = ["ale-py (>=0.8.0,<0.9.0)"]
-box2d = ["box2d-py (==2.3.5)", "pygame (==2.1.0)", "swig (==4.*)"]
-classic-control = ["pygame (==2.1.0)"]
-mujoco = ["imageio (>=2.14.1)", "mujoco (==2.2)"]
-mujoco-py = ["mujoco_py (>=2.1,<2.2)"]
-other = ["lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-python (>=3.0)"]
-testing = ["box2d-py (==2.3.5)", "imageio (>=2.14.1)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (==2.2)", "mujoco_py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (==2.1.0)", "pytest (==7.0.1)", "swig (==4.*)"]
-toy-text = ["pygame (==2.1.0)"]
-
-[[package]]
-name = "gym-notices"
-version = "0.0.8"
-description = "Notices for gym"
-optional = false
-python-versions = "*"
-files = [
-    {file = "gym-notices-0.0.8.tar.gz", hash = "sha256:ad25e200487cafa369728625fe064e88ada1346618526102659b4640f2b4b911"},
-    {file = "gym_notices-0.0.8-py3-none-any.whl", hash = "sha256:e5f82e00823a166747b4c2a07de63b6560b1acb880638547e0cabf825a01e463"},
-]
-
 [[package]]
 name = "gymnasium"
 version = "0.29.1"
@@ -3513,4 +3475,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.10"
-content-hash = "abe6fc1c5b99d6f51f2efb0adda0e7cd1fcfe7b2d789879dafa441869e555745"
+content-hash = "f5251fd5ddf3f13fce8a8a0c14131a5ff3d1f433d030598b9e4cefdaaddbd4f8"

pyproject.toml

@@ -42,7 +42,6 @@ torch = "^2.2.1"
 tensordict = {git = "https://github.com/pytorch/tensordict"}
 torchrl = {git = "https://github.com/pytorch/rl", rev = "13bef426dcfa5887c6e5034a6e9697993fa92c37"}
 mujoco = "2.3.7"
-gym = "^0.26.2"
 opencv-python = "^4.9.0.80"
 diffusers = "^0.26.3"
 torchvision = "^0.17.1"
@@ -51,6 +50,7 @@ dm-control = "1.0.14"
 huggingface-hub = {extras = ["hf-transfer"], version = "^0.21.4"}
 robomimic = "0.2.0"
 gymnasium-robotics = "^1.2.4"
+gymnasium = "^0.29.1"
 
 
 [tool.poetry.group.dev.dependencies]