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Switch gym dependency to gymnasium #486

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Switch gym dependency to gymnasium #486

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c964133
Convert to gymnasium
giotherobot Mar 29, 2024
a7b6870
Update gymnasium import to gym in brax code, as extra alternatives
giotherobot May 14, 2024
7b0bc0e
Update gymnasium import to gym in brax code
giotherobot May 14, 2024
d5d46f2
Remove gym dependency and add gymnasium
giotherobot Jun 7, 2024
1db22fb
Revert v1 code
giotherobot Jun 7, 2024
c5bb67f
Adapt to new gymnasium step api
giotherobot Jun 7, 2024
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12 changes: 7 additions & 5 deletions brax/envs/wrappers/gym.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,9 +17,11 @@

from brax.envs.base import PipelineEnv
from brax.io import image
import gym
from gym import spaces
from gym.vector import utils

import gymnasium as gym
from gymnasium import spaces
from gymnasium.vector import utils

import jax
import numpy as np

Expand Down Expand Up @@ -72,7 +74,7 @@ def reset(self):
def step(self, action):
self._state, obs, reward, done, info = self._step(self._state, action)
# We return device arrays for pytorch users.
return obs, reward, done, info
return gym.utils.step_api_compatibility.convert_to_terminated_truncated_step_api((obs, reward, done, info))

def seed(self, seed: int = 0):
self._key = jax.random.PRNGKey(seed)
Expand Down Expand Up @@ -129,7 +131,7 @@ def reset(key):
def step(state, action):
state = self._env.step(state, action)
info = {**state.metrics, **state.info}
return state, state.obs, state.reward, state.done, info
return gym.utils.step_api_compatibility.convert_to_terminated_truncated_step_api((state, state.obs, state.reward, state.done, info), is_vector_env=True)

self._step = jax.jit(step, backend=self.backend)

Expand Down
5 changes: 2 additions & 3 deletions brax/v1/envs/wrappers.py
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Expand Up @@ -19,12 +19,11 @@

from brax.v1 import jumpy as jp
from brax.v1.envs import env as brax_env
import dm_env
from dm_env import specs
import flax

import gym
from gym import spaces
from gym.vector import utils

import jax
import jax.numpy as jnp

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2 changes: 1 addition & 1 deletion setup.py
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Expand Up @@ -45,8 +45,8 @@
"flask_cors",
"flax",
# TODO: remove grpcio and gym after dropping legacy v1 code
"gymnasium",
"grpcio",
"gym",
"jax>=0.4.6",
"jaxlib>=0.4.6",
"jaxopt",
Expand Down