feat: replace gym with gymnasium (#100)

This commit replaces the https://www.gymlibrary.dev/ library with the
new maintained https://gymnasium.farama.org/ library.

README.md

@@ -4,7 +4,7 @@
 [![Python 3](https://img.shields.io/badge/Python-3.8%20%7C%203.7%20%7C%203.6-brightgreen)](https://www.python.org/)
 [![Contributions](https://img.shields.io/badge/contributions-welcome-brightgreen.svg)](contributing.md)
 
-A python package containing the non ROS-based [bayesian\_learning\_control](https://github.com/rickstaa/bayesian-learning-control) Openai gym environments.
+A python package containing the non ROS-based [bayesian\_learning\_control](https://github.com/rickstaa/bayesian-learning-control) [Farama Foundation](https://farama.org/) gymnasium environments.
 
 ## Clone the repository
 

TODOS.md

@@ -0,0 +1,19 @@
+# Cartpole
+
+*   Check if beyond\_Done is still used.
+*   Check why reward\_range is set.
+*   Check step function, check reset function, check render function.
+*   Get up to date with new code.
+*   Test truncated.
+
+# Oscillator
+
+*   Review code.
+
+# Ex3-EKF
+
+*   Review code.
+
+# Disturber
+
+*   Cleanup code.

examples/requirements.txt

@@ -1 +1 @@
-gym==0.26.0
+gymnasium==0.28.1

examples/use_simzoo.py

@@ -1,17 +1,17 @@
 """A simple example on how to use the Simzoo environments.
 """
 
-import gym
+import gymnasium as gym
 
 import simzoo  # noqa: F401
 
-ENV_NAME = "Oscillator-v1"
+# ENV_NAME = "Oscillator-v1"
 # ENV_NAME = "Ex3EKF-v1"
 # ENV_NAME = "CartPoleCost-v0"
-# ENV_NAME = "CartPole-v1"
+ENV_NAME = "CartPole-v1"
 
 if __name__ == "__main__":
-    env = gym.make(ENV_NAME, render_mode="human")
+    env = gym.make(ENV_NAME)
 
     # Define a policy function.
     # NOTE: Can be any function that takes an observation and returns an action.

package.json

@@ -1,12 +1,14 @@
 {
   "name": "simzoo",
   "version": "0.5.6",
-  "description": "Package that contains the gym environments of the bayesian-learning-control package.",
+  "description": "Package that contains the gymnasium environments of the bayesian-learning-control package.",
   "keywords": [
     "reinforcement-learning",
     "simulation",
     "openai-gym",
-    "gym-environments"
+    "gym-environments",
+    "gymnasium",
+    "gymnasium-environments"
   ],
   "homepage": "https://github.com/rickstaa/simzoo#readme",
   "bugs": {

setup.cfg

@@ -1,13 +1,19 @@
 [metadata]
 name = simzoo
 version = 0.5.6
-description = A python package containing the bayesian_learning_control openai gym environments.
+description = A python package containing the bayesian_learning_control gymnasium environments.
 long_description = file: README.md, CHANGELOG.md, LICENSE
 long_description_content_type=text/markdown
 author = Rick Staa
 author_email = [email protected]
 url = https://github.com/rickstaa/simzoo
-keywords = rl, openai gym
+keywords = 
+    "reinforcement-learning",
+    "simulation",
+    "openai-gym",
+    "gym-environments",
+    "gymnasium",
+    "gymnasium-environments"
 license = Rick Staa copyright
 license_file = LICENSE
 classifiers =
@@ -21,7 +27,7 @@ classifiers =
 packages = find:
 include_package_data = True
 install_requires =
-    gym
+    gymnasium
     matplotlib
     iteration_utilities
 python_requires = >=3.5
@@ -37,7 +43,7 @@ dev =
     flake8
     black
 build =
-    gym=>0.25.0
+    gymnasium
     matplotlib==3.7.0
 
 [flake8]

simzoo/__init__.py

@@ -1,10 +1,10 @@
-"""Module that register the Simzoo gym environments.
+"""Module that register the Simzoo gymnasium environments.
 """
 
 import importlib
 
-import gym
-from gym.envs.registration import register
+import gymnasium as gym
+from gymnasium.envs.registration import register
 
 # Create import prefix as stand-alone package or name_space package (mlc)
 if importlib.util.find_spec("simzoo") is not None:

simzoo/common/disturber.py

@@ -4,11 +4,11 @@
 `Robustness Evaluation <https://rickstaa.github.io/bayesian-learning-control/control/robustness_eval.html>`_
 documentation.
 """  # noqa: E501
-# IMPROVE: Replace with gym wrappers https://alexandervandekleut.github.io/gym-wrappers/
+# IMPROVE: Replace with gymnasium wrappers https://alexandervandekleut.github.io/gym-wrappers/ # noqa: E501
 
 import re
 
-import gym
+import gymnasium as gym
 import numpy as np
 from iteration_utilities import deepflatten
 
@@ -261,8 +261,8 @@ def __init__(self, disturber_cfg=None):
                 present in the :class:`Disturber` class file.
         """  # noqa: E501
         assert any([issubclass(item, gym.Env) for item in self.__class__.__bases__]), (
-            "Only classes that also inherit from the 'gym.Env' class can inherit from "
-            "the 'Disturber' class."
+            "Only classes that also inherit from the 'gymnasium.Env' class can inherit "
+            "from the 'Disturber' class."
         )
 
         self.disturber_done = False
@@ -1135,7 +1135,7 @@ def init_disturber(  # noqa E901
         disturbance_variant=None,
         disturber_cfg=None,
         include_baseline=True,
-    ):  # IMPROVE: Can be removed when using gym wrapper
+    ):  # IMPROVE: Can be removed when using gymnasium wrapper
         """Initializes the environment/step disturber.
 
         Args:
@@ -1218,7 +1218,7 @@ def init_disturber(  # noqa E901
         )
 
     def disturbed_step(self, action, *args, **kwargs):  # noqa: C901
-        """Takes a action inside the gym environment while applying the requested
+        """Takes a action inside the gymnasium environment while applying the requested
         disturbance.
 
         Args:
@@ -1231,7 +1231,7 @@ def disturbed_step(self, action, *args, **kwargs):  # noqa: C901
 
         Returns:
             numpy.ndarray: The disturbed step.
-        """  # IMPROVE: Change to action when using gym wrapper
+        """  # IMPROVE: Change to action when using gymnasium wrapper
         if self._disturbance_type is None:
             raise RuntimeError(
                 "You are trying to retrieve a disturbed step while the disturber has "

simzoo/common/helpers.py

@@ -4,15 +4,15 @@
 import re
 
 import numpy as np
-from gym.utils import colorize as gym_colorize
+from gymnasium.utils import colorize as gym_colorize
 
 
 def colorize(string, color, bold=False, highlight=False):
     """Colorize a string.
 
     .. seealso::
-        This function wraps the :meth:`gym.utils.colorize` function to make sure that it
-        also works with empty empty color strings.
+        This function wraps the :meth:`gymnasium.utils.colorize` function to make sure
+        that it also works with empty empty color strings.
 
     Args:
         string (str): The string you want to colorize.

simzoo/envs/biological/oscillator/README.md

@@ -1,6 +1,6 @@
-# Oscillator gym environment
+# Oscillator gymnasium environment
 
-A gym environment for a synthetic oscillatory network of transcriptional regulators
+A gymnasium environment for a synthetic oscillatory network of transcriptional regulators
 called a repressilator. A repressilator is a three-gene regulatory network where the
 dynamics of mRNA and proteins follow an oscillatory behaviour
 ([see Elowitch et al. 2000](https://www-nature-com.tudelft.idm.oclc.org/articles/35002125)
@@ -46,4 +46,4 @@ the error when a step is taken. This results in returning the following array:
 
 ## How to use
 
-This environment is part of the [simzoo package](https://github.com/rickstaa/simzoo). It is therefore registered as a gym environment when you import the Simzoo package. If you want to use the environment in the stand-alone mode, you can register it yourself.
+This environment is part of the [simzoo package](https://github.com/rickstaa/simzoo). It is therefore registered as a gymnasium environment when you import the Simzoo package. If you want to use the environment in the stand-alone mode, you can register it yourself.

simzoo/envs/biological/oscillator/__init__.py

@@ -1,4 +1,5 @@
-"""A synthetic oscillatory network of transcriptional regulators gym environment."""
+"""A synthetic oscillatory network of transcriptional regulators gymnasium environment.
+"""
 import importlib
 import sys
 

simzoo/envs/biological/oscillator/oscillator.py

@@ -1,14 +1,14 @@
-"""A gym environment for a synthetic oscillatory network of transcriptional regulators
-called a repressilator. A repressilator is a three-gene regulatory network where the
-dynamics of mRNA and proteins follow an oscillatory behavior
+"""A gymnasium environment for a synthetic oscillatory network of transcriptional
+regulators called a repressilator. A repressilator is a three-gene regulatory network
+where the dynamics of mRNA and proteins follow an oscillatory behavior
 (see https://www-nature-com.tudelft.idm.oclc.org/articles/35002125).
 """
 
-import gym
+import gymnasium as gym
 import matplotlib.pyplot as plt
 import numpy as np
-from gym import spaces
-from gym.utils import colorize, seeding
+from gymnasium import spaces
+from gymnasium.utils import colorize, seeding
 
 if __name__ == "__main__":
     from oscillator_disturber import OscillatorDisturber
@@ -22,7 +22,7 @@ class Oscillator(gym.Env, OscillatorDisturber):
     """Synthetic oscillatory network
 
     .. note::
-        This gym environment inherits from the
+        This gymnasium environment inherits from the
         :class:`~bayesian_learning_control.simzoo.simzoo.common.disturber.Disturber`
         in order to be able to use it with the Robustness Evaluation tool of the
         Bayesian Learning Control package (BLC). For more information see
@@ -180,7 +180,7 @@ def __init__(
             dtype=np.float32,
         )
 
-        # Create random seed and set gym environment parameters
+        # Create random seed and set gymnasium environment parameters
         self.seed(seed)
         self.viewer = None
         self.state = None
@@ -326,7 +326,7 @@ def reset(
         seed=None,
         random=True,
     ):
-        """Reset gym environment.
+        """Reset gymnasium environment.
 
         Args:
             seed (int, optional): A random seed for the environment. By default

simzoo/envs/biological/oscillator/oscillator_disturber.py

@@ -4,7 +4,7 @@
 `Robustness Evaluation <https://rickstaa.github.io/bayesian-learning-control/control/robustness_eval.html>`_
 documentation.
 """  # noqa: E501
-# IMPROVE: File can be removed when a gym wrapper is used.
+# IMPROVE: File can be removed when a gymnasium wrapper is used.
 
 import importlib
 import sys

simzoo/envs/biological/oscillator/requirements.txt

@@ -1,2 +1,2 @@
-gym==0.26.0
+gymnasium==0.28.1
 matplotlib==3.7.0

simzoo/envs/classic_control/cart_pole_cost/README.md

@@ -1,8 +1,8 @@
-# CartPoleCost gym environment
+# CartPoleCost gymnasium environment
 
 An un-actuated joint attaches a pole to a cart, which moves along a frictionless track. This environment
 corresponds to the [CartPole-v1](https://gym.openai.com/envs/CartPole-v1/) environment that is included in the
-openAi gym package. It is different in the fact that:
+openAi gymnasium package. It is different in the fact that:
 
 *   In this version, the action space is continuous, wherein the OpenAi version
     it is discrete.
@@ -54,4 +54,4 @@ This info dictionary contains the following keys:
 
 ## How to use
 
-This environment is part of the [simzoo package](https://github.com/rickstaa/simzoo). It is therefore registered as a gym environment when you import the Simzoo package. If you want to use the environment in stand-alone mode, you can register it yourself.
+This environment is part of the [simzoo package](https://github.com/rickstaa/simzoo). It is therefore registered as a gymnasium environment when you import the Simzoo package. If you want to use the environment in stand-alone mode, you can register it yourself.

simzoo/envs/classic_control/cart_pole_cost/__init__.py

@@ -1,4 +1,5 @@
-"""A synthetic oscillatory network of transcriptional regulators gym environment."""
+"""A synthetic oscillatory network of transcriptional regulators gymnasium environment.
+"""
 import importlib
 import sys