Remove Gym environments, migrate remaining code to gymnasium

CHANGELOG.md

@@ -11,6 +11,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## [Unreleased]
 
 ## [2.0.0] - 2024-07-30
+### Changed
+- BREAKING: Migrated from gym to gymnasium.
+
 ### Added
 - Add py.typed marker for mypy
 - screenshot_mode.py to run simulation without visualisations (for nicer screenshots).
@@ -31,6 +34,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - trifinger_simulation does no longer maintain a copy of the robot model files for the
   pure-Python installation.  Instead it depends on robot_properties_fingers now for both
   installation types (colcon and pure Python).
+- The example Gym environments have been removed.  They still depended on the old gym,
+  which is not working anymore with recent Python versions.  Since they anyway where
+  mostly meant as examples and are not directly used in our code base, they were simply
+  removed.  If you actually depend on them, you can easily retrieve them from an earlier
+  version of the code and maintain them in a separate package.
 
 
 ## [1.4.1] - 2022-06-24

setup.cfg

@@ -33,7 +33,7 @@ install_requires =
     # pinocchio
     pin >=2.4.7
     pybullet >=3.0.8
-    gym >=0.23.1
+    gymnasium >=1.2.0
     opencv-python >=4.2.0.34
     pyyaml >=5.3.1
     robot_properties_fingers>=2.0.2
@@ -42,9 +42,7 @@ scripts =
     demos/demo_cameras.py
     demos/demo_control.py
     demos/demo_inverse_kinematics.py
-    demos/demo_load_gym_env.py
     demos/demo_plain_torque_control.py
-    demos/demo_random_policy.py
     demos/demo_trifinger_platform.py
     scripts/check_position_control_accuracy.py
     scripts/profiling.py

tests/test_determinism.py

@@ -2,9 +2,6 @@
 import unittest
 import numpy as np
 
-import gym
-
-import trifinger_simulation.gym_wrapper  # noqa
 from trifinger_simulation.sim_finger import SimFinger
 
 
@@ -44,56 +41,6 @@ def run():
         np.testing.assert_array_equal(first_run.position, second_run.position)
         np.testing.assert_array_equal(first_run.velocity, second_run.velocity)
 
-    def test_reach_rollouts(self):
-        smoothing_params = {
-            "num_episodes": 10,
-            # ratio of total training time after which smoothing starts
-            "start_after": 3.0 / 7.0,
-            # smoothing coeff. that shall be reached at end of training
-            "final_alpha": 0.975,
-            "stop_after": 5.0 / 7.0,
-        }
-
-        num_samples = 10
-        horizon = 100
-
-        env = gym.make(
-            "reach-v0",
-            control_rate_s=0.02,
-            enable_visualization=False,
-            finger_type="fingerone",
-            smoothing_params=smoothing_params,
-        )
-
-        start_position = [0.5, -0.7, -1.5]
-
-        plans = -1.0 + 2.0 * np.random.rand(horizon, num_samples, 3)
-
-        def run():
-            states = []
-            rewards = []
-
-            for i in range(num_samples):
-                env.reset()
-                env.finger.reset_finger_positions_and_velocities(
-                    start_position
-                )
-                for t in range(horizon):
-                    state, reward, _, _ = env.step(plans[t, i])
-                    states.append(state)
-                    rewards.append(reward)
-            states = np.array(states)
-            rewards = np.array(rewards)
-            return states, rewards
-
-        first_states, first_rewards = run()
-        second_states, second_rewards = run()
-
-        np.testing.assert_array_equal(first_states.all(), second_states.all())
-        np.testing.assert_array_equal(
-            first_rewards.all(), second_rewards.all()
-        )
-
 
 if __name__ == "__main__":
     unittest.main()

trifinger_simulation/gym_wrapper/__init__.py

@@ -1,21 +0,0 @@
-from gym.envs.registration import register
-
-register(
-    id="reach-v0",
-    entry_point="trifinger_simulation.gym_wrapper.envs.trifinger_reach:TriFingerReach",
-)
-register(
-    id="push-v0",
-    entry_point="trifinger_simulation.gym_wrapper.envs.trifinger_push:TriFingerPush",
-)
-
-register(
-    id="real_robot_challenge_phase_1-v1",
-    entry_point="trifinger_simulation.gym_wrapper.envs.cube_env:CubeEnv",
-)
-
-
-register(
-    id="cube_trajectory-v1",
-    entry_point="trifinger_simulation.gym_wrapper.envs.cube_trajectory_env:CubeTrajectoryEnv",
-)