Transition everything from gym to gymnasium

[ll7]

Update everything from gym to gymnasium.

Warning extracted

UserWarning: You loaded a model that was trained using OpenAI Gym. We strongly recommend transitioning to Gymnasium by saving that model again.

Full Warning

root@docker-desktop:/workspaces/robot_sf_ll7# python examples/demo_offensive.py 
2024-06-03 12:19:44.635 | INFO     | robot_sf.render.sim_view:__post_init__:86 - Initializing the simulation view.
/opt/venv/lib/python3.10/site-packages/torch/cuda/__init__.py:141: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 500: named symbol not found (Triggered internally at ../c10/cuda/CUDAFunctions.cpp:108.)
  return torch._C._cuda_getDeviceCount() > 0
/opt/venv/lib/python3.10/site-packages/stable_baselines3/common/vec_env/patch_gym.py:95: UserWarning: You loaded a model that was trained using OpenAI Gym. We strongly recommend transitioning to Gymnasium by saving that model again.
  warnings.warn(
/opt/venv/lib/python3.10/site-packages/stable_baselines3/common/base_class.py:748: UserWarning: You are probably loading a model saved with SB3 < 1.7.0, we deactivated exact_match so you can save the model again to avoid issues in the future (see https://github.com/DLR-RM/stable-baselines3/issues/1233 for more info). Original error: Error(s) in loading state_dict for MultiInputActorCriticPolicy:
        Missing key(s) in state_dict: "pi_features_extractor.ray_extractor.0.weight", "pi_features_extractor.ray_extractor.0.bias", "pi_features_extractor.ray_extractor.3.weight", "pi_features_extractor.ray_extractor.3.bias", "pi_features_extractor.ray_extractor.6.weight", "pi_features_extractor.ray_extractor.6.bias", "pi_features_extractor.ray_extractor.9.weight", "pi_features_extractor.ray_extractor.9.bias", "vf_features_extractor.ray_extractor.0.weight", "vf_features_extractor.ray_extractor.0.bias", "vf_features_extractor.ray_extractor.3.weight", "vf_features_extractor.ray_extractor.3.bias", "vf_features_extractor.ray_extractor.6.weight", "vf_features_extractor.ray_extractor.6.bias", "vf_features_extractor.ray_extractor.9.weight", "vf_features_extractor.ray_extractor.9.bias".  
Note: the model should still work fine, this only a warning.
  warnings.warn(
  

[ll7]

Robot_env is already updated to gymnasium according to:

robot_sf_ll7/robot_sf/gym_env/robot_env.py

Lines 22 to 23 in f942224

	from gymnasium import Env
	from gymnasium.utils import seeding

However, the old trainings models are not trained with this new interface:
https://github.com/ll7/robot_sf_ll7/blob/5aae237c2bc3d6eb7268eccaa29f7afe84d04159/examples/demo_defensive.py

uses
https://github.com/ll7/robot_sf_ll7/blob/2116eb08e1620e6a6e136c7c62e42babd2e86c56/model/run_023.zip

Which is likely trained with gym and not with `gymnasium.