Fixes setuptools<=66.x to use gym==0.21.0 (#91)

Setuptools 67.0 onwards does not support malformed strings. As mentioned in their release notes, users must conform to PEP specifications strictly (i.e. will result in build errors if not complied). 

The MR fixes the `setuptools` package version to be <=66, so that the users can still continue using the gym==0.21.0. Though long-term we should switch to using Gymnasium. Additionally, it removes the malformed strings in Orbit packages to follow the new `setuptools`.

docs/source/refs/issues.rst

 Known issues
 ============
 
+Installation errors due to gym==0.21.0
+--------------------------------------
+
+When installing the gym package, you may encounter the following error:
+
+.. code-block::
+
+    error in gym setup command: 'extras_require' must be a dictionary whose values are strings or lists of
+    strings containing valid project/version requirement specifiers.
+    ----------------------------------------
+    ERROR: Could not find a version that satisfies the requirement gym==0.21.0 (from omni-isaac-orbit-envs[all])
+    (from versions: 0.0.2, 0.0.3, 0.0.4, 0.0.5, 0.0.6, 0.0.7, 0.1.0, 0.1.1, 0.1.2, 0.1.3, 0.1.4, 0.1.5, 0.1.6,
+    ...
+    0.15.7, 0.16.0, 0.17.0, 0.17.1, 0.17.2, 0.17.3, 0.18.0, 0.18.3, 0.19.0, 0.20.0, 0.21.0, 0.22.0, 0.23.0,
+    0.23.1, 0.24.0, 0.24.1, 0.25.0, 0.25.1, 0.25.2, 0.26.0, 0.26.1, 0.26.2)
+    ERROR: No matching distribution found for gym==0.21.0
+
+
+This issue arises since the ``setuptools`` package from version 67.0 onwards does not support malformed version strings.
+Since the OpenAI Gym package that is no longer being maintained (`issue link <https://github.com/openai/gym/issues/3200>`_),
+the current workaround is to install the ``setuptools`` package version 66.0.0. You can do this by running the following
+command:
+
+.. code-block:: bash
+
+    ./orbit.sh -p -m pip install -U setuptools==66
+
 Regression in Isaac Sim 2022.2.1
 --------------------------------
 

source/extensions/omni.isaac.contrib_envs/setup.py

@@ -24,7 +24,7 @@ setup(
     description=EXTENSION_TOML_DATA["package"]["description"],
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     include_package_data=True,
-    python_requires=">=3.7.*",
+    python_requires=">=3.7",
     packages=["omni.isaac.contrib_envs"],
     classifiers=["Natural Language :: English", "Programming Language :: Python :: 3.7"],
     zip_safe=False,

source/extensions/omni.isaac.orbit/setup.py

@@ -37,7 +37,7 @@ setup(
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     license="BSD-3-Clause",
     include_package_data=True,
-    python_requires=">=3.7.*",
+    python_requires=">=3.7",
     install_requires=INSTALL_REQUIRES,
     packages=["omni.isaac.orbit"],
     classifiers=["Natural Language :: English", "Programming Language :: Python :: 3.7"],

source/extensions/omni.isaac.orbit_envs/setup.py

@@ -26,13 +26,14 @@ INSTALL_REQUIRES = [
     # gym
     "gym==0.21.0",
     "importlib-metadata~=4.13.0",
+    "setuptools<=66"  # setuptools 67.0 breaks gym
     # data collection
     "h5py",
 ]
 
 # Extra dependencies for RL agents
 EXTRAS_REQUIRE = {
-    "sb3": ["stable-baselines3>=1.5.0", "tensorboard"],
+    "sb3": ["stable-baselines3>=1.5,<=1.8", "tensorboard"],
     "skrl": ["skrl>=0.10.0"],
     "rl_games": ["rl-games==1.5.2"],
     "rsl_rl": ["rsl_rl@git+https://github.com/leggedrobotics/rsl_rl.git"],
@@ -53,7 +54,7 @@ setup(
     description=EXTENSION_TOML_DATA["package"]["description"],
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     include_package_data=True,
-    python_requires=">=3.7.*",
+    python_requires=">=3.7",
     install_requires=INSTALL_REQUIRES,
     extras_require=EXTRAS_REQUIRE,
     packages=["omni.isaac.orbit_envs"],