Remove gym dependency

CHANGELOG.md

@@ -19,13 +19,16 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Renamed `rllib/rllib.py` to `rllib/pg_pbt_example.py`.
 - Loosened constraint of `gymnasium` from `==0.27.0` to `>=0.26.3`.
 - `LaneFollowingController` now uses a different pole placement method to compute lateral/heading gains. Numerical behaviour is unchanged. Performance is slightly faster.
+- Changed all uses of `gym` to use `gymnasium`.
 ### Deprecated
 ### Fixed
 - Missing neighborhood vehicle state `'lane_id'` is now added to the `hiway-v1` formatted observations.
 - Fixed a regression where `pybullet` build time messages returned.
 ### Removed
+- Removed `hiway-v0` env.
 - Removed `TruncatedDistribution` from scenario studio.
 - Removed `scipy` as a core package dependency.
+- Removed `gym` as a core dependency.
 ### Security
 
 ## [1.2.0] # 2023-06-14

Makefile

@@ -9,7 +9,7 @@ test: build-all-scenarios
 		--dist=loadscope \
 		-n `expr \( \`nproc\` \/ 2 \& \`nproc\` \> 3 \) \| 2` \
 		--nb-exec-timeout 65536 \
-		./examples/tests ./smarts/env ./envision ./smarts/core ./smarts/sstudio ./tests \
+		./examples/tests ./smarts/env ./envision ./smarts/core ./smarts/sstudio \
 		--ignore=./smarts/core/waymo_map.py \
 		--ignore=./smarts/core/argoverse_map.py \
 		--ignore=./smarts/core/tests/test_argoverse.py \
@@ -18,6 +18,7 @@ test: build-all-scenarios
 		--ignore=./smarts/core/tests/test_notebook.py \
 		--ignore=./smarts/env/tests/test_benchmark.py \
 		--ignore=./examples/tests/test_learning.py \
+		--ignore=./examples/tests/test_rl.py \
 		-k 'not test_long_determinism'
 	rm -f .coverage.*
 	rm -f .coverage*

docs/sim/env.rst

@@ -9,41 +9,11 @@ Base environments
 SMARTS environment module is defined in :mod:`~smarts.env` package. Currently SMARTS provides two kinds of training 
 environments, namely:
 
-+ ``HiWayEnv`` utilizing a ``gymnasium.Env`` interface 
++ ``HiWayEnvV1`` utilizing a ``gymnasium.Env`` interface 
 + ``RLlibHiwayEnv`` customized for `RLlib <https://docs.ray.io/en/latest/rllib/index.html>`_ training
 
 .. image:: ../_static/env.png
 
-HiWayEnv
-^^^^^^^^
-
-``HiWayEnv`` inherits class ``gymnasium.Env`` and supports gym APIs like ``reset``, ``step``, ``close``. An usage example is shown below.
-Refer to :class:`~smarts.env.hiway_env.HiWayEnv` for more details.
-
-.. code-block:: python
-
-    import gymnasium as gym
-    # Make env
-    env = gym.make(
-            "smarts.env:hiway-v0", # Env entry name.
-            scenarios=[scenario_path], # List of paths to scenario folders.
-            agent_interfaces={AGENT_ID: agent_spec.interface}, # Dictionary mapping agents to agent interfaces.
-            headless=False, # False to enable Envision visualization of the environment.
-            seed=42, # RNG seed. Seeds are set at the start of simulation, and never automatically re-seeded.
-        )
-
-    # Reset env and build agent.
-    observations = env.reset()
-    agent = agent_spec.build_agent()
-
-    # Step env.
-    agent_obs = observations[AGENT_ID]
-    agent_action = agent.act(agent_obs)
-    observations, rewards, dones, infos = env.step({AGENT_ID: agent_action})
-
-    # Close env.
-    env.close()
-
 HiWayEnvV1
 ^^^^^^^^^^
 

docs/sim/visualization.rst

@@ -35,7 +35,7 @@ For recording, simply feed ``envision_record_data_replay_path`` with desired rec
 .. code-block:: python
 
     env = gym.make(
-        "smarts.env:hiway-v0",
+        "smarts.env:hiway-v1",
         scenarios=args.scenarios,
         agents={AGENT_ID: agent},
         headless=args.headless,

examples/rl/drive/inference/contrib_policy/filter_obs.py

@@ -1,7 +1,7 @@
 import math
 from typing import Any, Dict, Sequence, Tuple
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 from smarts.core.agent_interface import RGB

examples/rl/drive/inference/contrib_policy/format_action.py

@@ -1,6 +1,6 @@
 from typing import Callable, Tuple
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 from smarts.core.controllers import ActionSpaceType

examples/rl/drive/inference/contrib_policy/frame_stack.py

@@ -1,7 +1,7 @@
 import copy
 from collections import deque
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 

examples/rl/drive/inference/contrib_policy/make_dict.py

@@ -1,6 +1,6 @@
 from typing import Dict
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 

examples/rl/drive/inference/contrib_policy/network.py

@@ -1,4 +1,4 @@
-import gym
+import gymnasium as gym
 import torch as th
 import torch.nn as nn
 from stable_baselines3.common.preprocessing import get_flattened_obs_dim

examples/rl/drive/train/preprocess.py

@@ -1,4 +1,4 @@
-import gym
+import gymnasium as gym
 from contrib_policy.filter_obs import FilterObs
 from contrib_policy.format_action import FormatAction
 from contrib_policy.frame_stack import FrameStack

examples/rl/drive/train/run.py

@@ -12,7 +12,7 @@
 from itertools import cycle, islice
 from typing import Any, Dict
 
-import gym
+import gymnasium as gym
 
 # Load inference module to register agent
 import inference

examples/rl/platoon/inference/contrib_policy/filter_obs.py

@@ -1,7 +1,7 @@
 import math
 from typing import Any, Dict, Sequence, Tuple
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 from smarts.core.agent_interface import RGB

examples/rl/platoon/inference/contrib_policy/format_action.py

@@ -1,6 +1,6 @@
 from typing import Callable, Tuple
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 from smarts.core.controllers import ActionSpaceType

examples/rl/platoon/inference/contrib_policy/frame_stack.py

@@ -1,7 +1,7 @@
 import copy
 from collections import deque
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 

examples/rl/platoon/inference/contrib_policy/make_dict.py

@@ -1,6 +1,6 @@
 from typing import Dict
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 

examples/rl/platoon/inference/contrib_policy/network.py

@@ -1,4 +1,4 @@
-import gym
+import gymnasium as gym
 import torch as th
 import torch.nn as nn
 from stable_baselines3.common.preprocessing import get_flattened_obs_dim

examples/rl/platoon/train/preprocess.py

@@ -1,4 +1,4 @@
-import gym
+import gymnasium as gym
 from contrib_policy.filter_obs import FilterObs
 from contrib_policy.format_action import FormatAction
 from contrib_policy.frame_stack import FrameStack

examples/rl/platoon/train/run.py

@@ -13,7 +13,9 @@
 from itertools import cycle, islice
 from typing import Any, Dict
 
-import gym
+import gymnasium as gym
+
+sys.modules["gym"] = gym
 
 # Load inference module to register agent
 import inference

setup.cfg

@@ -40,7 +40,6 @@ install_requires =
     pybullet>=3,<4.0
 
     # The following are planned for removal
-    gym>=0.17.3,<=0.19.0
     cloudpickle>=1.3.0,<=2.1.0
 
 [options.packages.find]
@@ -70,7 +69,6 @@ dev =
 diagnostic = 
     py-cpuinfo==9.0.0
     mdutils==1.4.0
-    gym>=0.17.3,<=0.19.0
     matplotlib>=3.2.2
 doc = 
     myst-parser>=0.18.1
@@ -89,13 +87,12 @@ gym =
 opendrive = 
     opendrive2lanelet>=1.2.1
     Rtree>=0.9.7
-remote_agent = 
-    grpcio==1.32.0
 rllib = 
     opencv-python==4.1.2.30
     opencv-python-headless==4.1.2.30
     ray[rllib]~=2.5.0
     tensorflow-probability
+    tensorflow>=2.12.0
 ray = 
     ray~=2.5.0
 ros = 
@@ -135,7 +132,6 @@ all =
     %(extras)s
     %(gym)s
     %(opendrive)s
-    %(remote_agent)s
     %(rllib)s
     # %(ray)s # incompatible with [rllib] for now
     %(ros)s

smarts/env/__init__.py

@@ -18,12 +18,5 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 
-from gym.envs.registration import register
-
-register(
-    id="hiway-v0",
-    entry_point="smarts.env.hiway_env:HiWayEnv",
-)
-
 # Do NOT remove.
 import smarts.env.gymnasium

smarts/env/gymnasium/hiway_env_v1.py

@@ -39,7 +39,8 @@
 
 import gymnasium as gym
 import numpy as np
-from gym import spaces
+
+from gymnasium import spaces
 from gymnasium.core import ActType, ObsType
 from gymnasium.envs.registration import EnvSpec
 

smarts/env/gymnasium/wrappers/api_reversion.py

@@ -21,7 +21,7 @@
 # THE SOFTWARE.
 from typing import Any, Dict, SupportsFloat, Tuple
 
-import gym
+import gymnasium as gym
 
 
 class Api021Reversion(gym.Wrapper):