Feature Request: migrate from gym to gymnasium

[elliottower]

Hi, would it be possible for safe-control-gym to be upgraded from gym to gymnasium? Gymnasium is the maintained version of openai gym and is compatible with current RL training libraries (rllib and tianshou have already migrated, and stable-baselines3 will soon).

This repository is currently listed in the gymnasium third party environments but we are cleaning the list up to only include maintained gymnasium-compatible repositories.

For information about upgrading and compatibility, see migration guide and gym compatibility.

[JacopoPan]

Hello @elliottower
yes, I will attend to this as soon as we have fully migrated utiasDSL/gym-pybullet-dones (which I foresee to be a bit simpler).

[elliottower]

Hello @elliottower
yes, I will attend to this as soon as we have fully migrated utiasDSL/gym-pybullet-dones (which I foresee to be a bit simpler).

Sounds good, thanks! Just wanted to make sure you you were aware of the deprecation/new maintenance on gymnasium but my fault if you saw it twice cause of the other repo.

[jkterry1]

@JacopoPan Hey, just wanted to follow up on this :)

[JacopoPan]

Hi Jordan, the main branch's dependencies have all been changed from gym to gymnasium.
We still need to work on changing the .step() API to account for terminated and truncated returns (it should be easy on the environments' side but will require some due diligence on the controllers/experiments side, can we talk about this with the precommit hooks next week, @Federico-PizarroBejarano?)

[Federico-PizarroBejarano]

@JacopoPan yes happy to talk about this and do the update this week.