Remove gym dependency

.github/workflows/ci-base-tests-linux.yml

@@ -30,7 +30,7 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4
-          pip install -e .[camera_obs,opendrive,test,test_notebook,torch,train,gym,argoverse,envision,sumo]
+          pip install -e .[camera_obs,opendrive,test,test_notebook,torch,train,gif_recorder,gymnasium,argoverse,envision,sumo]
           if echo ${{matrix.tests}} | grep -q -e "test_rllib_hiway_env.py" -e "test_examples.py"; then pip install -e .[rllib]; fi
           if echo ${{matrix.tests}} | grep -q -e "/smarts/ray"; then pip install -e .[ray]; fi
       - name: Build scenarios
@@ -84,7 +84,7 @@ jobs:
           pip install --upgrade pip
           pip install wheel==0.38.4
           pip install -e ./../../../.[camera_obs,argoverse,sumo,test]
-          pip install -e ./inference/    
+          pip install -e ./inference/
       - name: Run smoke tests
         run: |
           cd ${GITHUB_WORKSPACE}/examples/rl/${{matrix.tests}}

CHANGELOG.md

@@ -20,13 +20,19 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - 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.
 - Upgraded Stable Baselines3 from v1.7.0 to v2.0.0, and switched to Gymnasium backend, in Drive and VehicleFollowing RL examples.
+- Changed all uses of `gym` to use `gymnasium`.
+- Changed `gymnasium` to be an optional dependency. Use `pip install -e .[gymnasium]` to install it.
+- Renamed the `[gym]` optional install to `[gif_recorder]`.
 ### 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 `TruncatedDistribution` from scenario studio.
 - Removed `scipy` as a core package dependency.
+- Removed `gym` as a core package dependency.
+- Removed `hiway-v0` env.
+- Removed `Api021Reversion` gym wrapper class.
 ### 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
 ^^^^^^^^^^
 
@@ -78,19 +48,6 @@ exactly matches the `env.observation_space`, and `ObservationOptions.multi_agent
     # Close env.
     env.close()
 
-To use this environment with certain frameworks you may want to convert the environment back into a 0.21 api version of gym.
-This can be done with :class:`~smarts.env.gymnasium.wrappers.api_reversion.Api021Reversion`.
-
-.. code-block:: python
-
-    import gymnasium as gym
-    # Make env
-    env = gym.make(
-        "smarts.env:hiway-v1", # Env entry name.
-        scenarios=[scenario_path], # List of paths to scenario folders.
-    )
-    env = Api021Reversion(env) # Turns the environment into roughly a 0.21 gym environment
-
 RLlibHiwayEnv
 ^^^^^^^^^^^^^
 

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/train/env.py

@@ -14,7 +14,6 @@ def make_env(env_id, scenario, agent_spec: AgentSpec, config, seed):
     from reward import Reward
     from stable_baselines3.common.monitor import Monitor
 
-    from smarts.env.gymnasium.wrappers.api_reversion import Api021Reversion
     from smarts.env.gymnasium.wrappers.single_agent import SingleAgent
 
     env = gym.make(

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/platoon/train/env.py

@@ -14,7 +14,6 @@ def make_env(env_id, scenario, agent_spec: AgentSpec, config, seed):
     from reward import Reward
     from stable_baselines3.common.monitor import Monitor
 
-    from smarts.env.gymnasium.wrappers.api_reversion import Api021Reversion
     from smarts.env.gymnasium.wrappers.single_agent import SingleAgent
 
     env = gym.make(

setup.cfg

@@ -35,13 +35,8 @@ install_requires =
     PyYAML>=3.13
     twisted>=21.7.0 # for scenario requirements.txt files
 
-    # The following are planned to be made optional
-    gymnasium>=0.26.3
-    pybullet>=3,<4.0
-
-    # The following are planned for removal
-    gym>=0.17.3,<=0.19.0
-    cloudpickle>=1.3.0,<=2.1.0
+    pybullet>=3,<4.0 # planned to be made optional
+    cloudpickle>=1.3.0,<=2.1.0 # planned for removal
 
 [options.packages.find]
 exclude =
@@ -70,7 +65,6 @@ 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
@@ -84,18 +78,19 @@ envision =
     websocket-client>=1.2.1
     ijson>=3.1.4
 extras = pynput>=1.7.4  # Used by HumanKeyboardAgent
-gym = 
+gif_recorder = 
     moviepy == 1.0.3
+gymnasium =
+    gymnasium>=0.26.3
 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 = 
@@ -133,9 +128,9 @@ all =
     %(doc)s
     %(envision)s
     %(extras)s
-    %(gym)s
+    %(gif_recorder)s
+    %(gymnasium)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