Gymnasium/gym/envs/registration.py

from __future__ import annotations

import contextlib
import copy
import difflib
import importlib
import importlib.util
import re
import sys
import warnings
from dataclasses import dataclass, field
from typing import (
    Any,
    Callable,
    Iterable,
    Optional,
    Sequence,
    SupportsFloat,
    Tuple,
    Type,
    Union,
    overload,
)

import numpy as np

from gym.envs.__relocated__ import internal_env_relocation_map
from gym.utils.env_checker import check_env
from gym.wrappers import AutoResetWrapper, OrderEnforcing, TimeLimit

if sys.version_info < (3, 10):
    import importlib_metadata as metadata  # type: ignore
else:
    import importlib.metadata as metadata

if sys.version_info >= (3, 8):
    from typing import Literal
else:

    class Literal(str):
        def __class_getitem__(cls, item):
            return Any


from gym import Env, error, logger

ENV_ID_RE: re.Pattern = re.compile(
    r"^(?:(?P<namespace>[\w:-]+)\/)?(?:(?P<name>[\w:.-]+?))(?:-v(?P<version>\d+))?$"
)


def load(name: str) -> Type:
    mod_name, attr_name = name.split(":")
    mod = importlib.import_module(mod_name)
    fn = getattr(mod, attr_name)
    return fn


def parse_env_id(id: str) -> Tuple[Optional[str], str, Optional[int]]:
    """Parse environment ID string format.

    This format is true today, but it's *not* an official spec.
    [namespace/](env-name)-v(version)    env-name is group 1, version is group 2

    2016-10-31: We're experimentally expanding the environment ID format
    to include an optional namespace.
    """
    match = ENV_ID_RE.fullmatch(id)
    if not match:
        raise error.Error(
            f"Malformed environment ID: {id}."
            f"(Currently all IDs must be of the form [namespace/](env-name)-v(version). (namespace is optional))"
        )
    namespace, name, version = match.group("namespace", "name", "version")
    if version is not None:
        version = int(version)

    return namespace, name, version


def get_env_id(ns: Optional[str], name: str, version: Optional[int]):
    """Get the full env ID given a name and (optional) version and namespace.
    Inverse of parse_env_id."""

    full_name = name
    if version is not None:
        full_name += f"-v{version}"
    if ns is not None:
        full_name = ns + "/" + full_name
    return full_name


@dataclass
class EnvSpec:
    id: str
    entry_point: Optional[Union[Callable, str]] = field(default=None)
    reward_threshold: Optional[float] = field(default=None)
    nondeterministic: bool = field(default=False)
    max_episode_steps: Optional[int] = field(default=None)
    order_enforce: bool = field(default=True)
    autoreset: bool = field(default=False)
    kwargs: dict = field(default_factory=dict)

    namespace: Optional[str] = field(init=False)
    name: str = field(init=False)
    version: Optional[int] = field(init=False)

    def __post_init__(self):
        # Initialize namespace, name, version
        self.namespace, self.name, self.version = parse_env_id(self.id)

    def make(self, **kwargs) -> Env:
        # For compatibility purposes
        return make(self, **kwargs)


def _check_namespace_exists(ns: Optional[str]):
    """Check if a namespace exists. If it doesn't, print a helpful error message."""
    if ns is None:
        return
    namespaces = {
        spec_.namespace for spec_ in registry.values() if spec_.namespace is not None
    }
    if ns in namespaces:
        return

    suggestion = (
        difflib.get_close_matches(ns, namespaces, n=1) if len(namespaces) > 0 else None
    )
    suggestion_msg = (
        f"Did you mean: `{suggestion[0]}`?"
        if suggestion
        else f"Have you installed the proper package for {ns}?"
    )

    raise error.NamespaceNotFound(f"Namespace {ns} not found. {suggestion_msg}")


def _check_name_exists(ns: Optional[str], name: str):
    """Check if an env exists in a namespace. If it doesn't, print a helpful error message."""
    _check_namespace_exists(ns)
    names = {spec_.name for spec_ in registry.values() if spec_.namespace == ns}

    if name in names:
        return

    if namespace is None and name in internal_env_relocation_map:
        relocated_namespace, relocated_package = internal_env_relocation_map[name]
        message = f"The environment `{name}` has been moved out of Gym to the package `{relocated_package}`."

        # Check if the package is installed
        # If not instruct the user to install the package and then how to instantiate the env
        if importlib.util.find_spec(relocated_package) is None:
            message += (
                f" Please install the package via `pip install {relocated_package}`."
            )

        # Otherwise the user should be able to instantiate the environment directly
        if namespace != relocated_namespace:
            message += f" You can instantiate the new namespaced environment as `{relocated_namespace}/{name}`."

        raise error.NameNotFound(message)

    suggestion = difflib.get_close_matches(name, names, n=1)
    namespace_msg = f" in namespace {ns}" if ns else ""
    suggestion_msg = f"Did you mean: `{suggestion[0]}`?" if suggestion else ""

    raise error.NameNotFound(
        f"Environment {name} doesn't exist{namespace_msg}. {suggestion_msg}"
    )


def _check_version_exists(ns: Optional[str], name: str, version: Optional[int]):
    """Check if an env version exists in a namespace. If it doesn't, print a helpful error message.
    This is a complete test whether an environment identifier is valid, and will provide the best available hints."""
    if get_env_id(ns, name, version) in registry:
        return

    _check_name_exists(ns, name)
    if version is None:
        return

    message = f"Environment version `v{version}` for environment `{get_env_id(ns, name, None)}` doesn't exist."

    env_specs = [
        spec_
        for spec_ in registry.values()
        if spec_.namespace == ns and spec_.name == name
    ]
    env_specs = sorted(env_specs, key=lambda spec_: int(spec_.version or -1))

    default_spec = [spec_ for spec_ in env_specs if spec_.version is None]

    if default_spec:
        message += f" It provides the default version {default_spec[0].id}`."
        if len(env_specs) == 1:
            raise error.DeprecatedEnv(message)

    # Process possible versioned environments

    versioned_specs = [spec_ for spec_ in env_specs if spec_.version is not None]

    latest_spec = max(versioned_specs, key=lambda spec: spec.version, default=None)  # type: ignore
    if latest_spec is not None and version > latest_spec.version:
        version_list_msg = ", ".join(f"`v{spec_.version}`" for spec_ in env_specs)
        message += f" It provides versioned environments: [ {version_list_msg} ]."

        raise error.VersionNotFound(message)

    if latest_spec is not None and version < latest_spec.version:
        raise error.DeprecatedEnv(
            f"Environment version v{version} for `{get_env_id(ns, name, None)}` is deprecated. "
            f"Please use `{latest_spec.id}` instead."
        )


def find_highest_version(ns: Optional[str], name: str) -> Optional[int]:
    version: list[int] = [
        spec_.version
        for spec_ in registry.values()
        if spec_.namespace == ns and spec_.name == name and spec_.version is not None
    ]
    return max(version, default=None)


def load_env_plugins(entry_point: str = "gym.envs") -> None:
    # Load third-party environments
    for plugin in metadata.entry_points(group=entry_point):
        # Python 3.8 doesn't support plugin.module, plugin.attr
        # So we'll have to try and parse this ourselves
        module, attr = None, None
        try:
            module, attr = plugin.module, plugin.attr  # type: ignore  ## error: Cannot access member "attr" for type "EntryPoint"
        except AttributeError:
            if ":" in plugin.value:
                module, attr = plugin.value.split(":", maxsplit=1)
            else:
                module, attr = plugin.value, None
        except Exception as e:
            warnings.warn(
                f"While trying to load plugin `{plugin}` from {entry_point}, an exception occurred: {e}"
            )
            module, attr = None, None
        finally:
            if attr is None:
                raise error.Error(
                    f"Gym environment plugin `{module}` must specify a function to execute, not a root module"
                )

        context = namespace(plugin.name)
        if plugin.name.startswith("__") and plugin.name.endswith("__"):
            # `__internal__` is an artifact of the plugin system when
            # the root namespace had an allow-list. The allow-list is now
            # removed and plugins can register environments in the root
            # namespace with the `__root__` magic key.
            if plugin.name == "__root__" or plugin.name == "__internal__":
                context = contextlib.nullcontext()
            else:
                logger.warn(
                    f"The environment namespace magic key `{plugin.name}` is unsupported. "
                    "To register an environment at the root namespace you should specify "
                    "the `__root__` namespace."
                )

        with context:
            fn = plugin.load()
            try:
                fn()
            except Exception as e:
                logger.warn(str(e))


# fmt: off
# Classic control
# ----------------------------------------


@overload
def make(id: Literal["CartPole-v1"], **kwargs) -> Env[np.ndarray, np.ndarray | int]: ...
@overload
def make(id: Literal["MountainCar-v0"], **kwargs) -> Env[np.ndarray, np.ndarray | int]: ...
@overload
def make(id: Literal["MountainCarContinuous-v0"], **kwargs) -> Env[np.ndarray, np.ndarray | Sequence[SupportsFloat]]: ...
@overload
def make(id: Literal["Pendulum-v1"], **kwargs) -> Env[np.ndarray, np.ndarray | Sequence[SupportsFloat]]: ...
@overload
def make(id: Literal["Acrobot-v1"], **kwargs) -> Env[np.ndarray, np.ndarray | int]: ...

# Box2d
# ----------------------------------------


@overload
def make(id: Literal["LunarLander-v2", "LunarLanderContinuous-v2"], **kwargs) -> Env[np.ndarray, np.ndarray | int]: ...
@overload
def make(id: Literal["BipedalWalker-v3", "BipedalWalkerHardcore-v3"], **kwargs) -> Env[np.ndarray, np.ndarray | Sequence[SupportsFloat]]: ...
@overload
def make(id: Literal["CarRacing-v1", "CarRacingDomainRandomize-v1"], **kwargs) -> Env[np.ndarray, np.ndarray | Sequence[SupportsFloat]]: ...

# Toy Text
# ----------------------------------------


@overload
def make(id: Literal["Blackjack-v1"], **kwargs) -> Env[np.ndarray, np.ndarray | int]: ...
@overload
def make(id: Literal["FrozenLake-v1", "FrozenLake8x8-v1"], **kwargs) -> Env[np.ndarray, np.ndarray | int]: ...
@overload
def make(id: Literal["CliffWalking-v0"], **kwargs) -> Env[np.ndarray, np.ndarray | int]: ...
@overload
def make(id: Literal["Taxi-v3"], **kwargs) -> Env[np.ndarray, np.ndarray | int]: ...

# Mujoco
# ----------------------------------------


@overload
def make(id: Literal[
    "Reacher-v2",
    "Pusher-v2",
    "Thrower-v2",
    "Striker-v2",
    "InvertedPendulum-v2",
    "InvertedDoublePendulum-v2",
    "HalfCheetah-v2", "HalfCheetah-v3",
    "Hopper-v2", "Hopper-v3",
    "Swimmer-v2", "Swimmer-v3",
    "Walker2d-v2", "Walker2d-v3",
    "Ant-v2"
], **kwargs) -> Env[np.ndarray, np.ndarray]: ...


@overload
def make(id: str, **kwargs) -> Env: ...
@overload
def make(id: EnvSpec, **kwargs) -> Env: ...

# fmt: on


class EnvRegistry(dict):
    """A glorified dictionary for compatibility reasons.
    Turns out that some existing code directly used the old `EnvRegistry` code,
    even though the intended API was just `register` and `make`. This reimplements some
    of the old methods, so that e.g. pybullet environments will still work.
    Ideally, nobody should ever use these methods, and they will be removed soon."""

    # TODO: remove this at 1.0

    def make(self, path: str, **kwargs) -> Env:
        logger.warn(
            "The `registry.make` method is deprecated. Please use `gym.make` instead."
        )
        return make(path, **kwargs)

    def register(self, id: str, **kwargs) -> None:
        logger.warn(
            "The `registry.register` method is deprecated. Please use `gym.register` instead."
        )
        return register(id, **kwargs)

    def all(self) -> Iterable[EnvSpec]:
        logger.warn(
            "The `registry.all` method is deprecated. Please use `registry.values` instead."
        )
        return self.values()

    def spec(self, path: str) -> EnvSpec:
        logger.warn(
            "The `registry.spec` method is deprecated. Please use `gym.spec` instead."
        )
        return spec(path)

    def namespace(self, ns: str):
        logger.warn(
            "The `registry.namespace` method is deprecated. Please use `gym.namespace` instead."
        )
        return namespace(ns)

    @property
    def env_specs(self):
        logger.warn(
            "The `registry.env_specs` property along with `EnvSpecTree` is deprecated. Please use `registry` directly as a dictionary instead."
        )
        return self


# Global registry of environments. Meant to be accessed through `register` and `make`
registry: dict[str, EnvSpec] = EnvRegistry()
current_namespace: Optional[str] = None


def _check_spec_register(spec: EnvSpec):
    """Checks whether the spec is valid to be registered. Helper function for `register`."""
    global registry, current_namespace
    if current_namespace is not None:
        if spec.namespace is not None:
            logger.warn(
                f"Custom namespace `{spec.namespace}` is being overridden "
                f"by namespace `{current_namespace}`. If you are developing a "
                "plugin you shouldn't specify a namespace in `register` "
                "calls. The namespace is specified through the "
                "entry point package metadata."
            )

    latest_versioned_spec = max(
        (
            spec_
            for spec_ in registry.values()
            if spec_.namespace == spec.namespace
            and spec_.name == spec.name
            and spec_.version is not None
        ),
        key=lambda spec_: int(spec_.version),  # type: ignore
        default=None,
    )

    unversioned_spec = next(
        (
            spec_
            for spec_ in registry.values()
            if spec_.namespace == spec.namespace
            and spec_.name == spec.name
            and spec_.version is None
        ),
        None,
    )

    if unversioned_spec is not None and spec.version is not None:
        raise error.RegistrationError(
            "Can't register the versioned environment "
            f"`{spec.id}` when the unversioned environment "
            f"`{unversioned_spec.id}` of the same name already exists."
        )
    elif latest_versioned_spec is not None and spec.version is None:
        raise error.RegistrationError(
            "Can't register the unversioned environment "
            f"`{spec.id}` when the versioned environment "
            f"`{latest_versioned_spec.id}` of the same name "
            f"already exists. Note: the default behavior is "
            f"that `gym.make` with the unversioned environment "
            f"will return the latest versioned environment"
        )


# Public API


@contextlib.contextmanager
def namespace(ns: str):
    global current_namespace
    old_namespace = current_namespace
    current_namespace = ns
    yield
    current_namespace = old_namespace


def register(id: str, **kwargs):
    """
    Register an environment with gym. The `id` parameter corresponds to the name of the environment,
    with the syntax as follows:
    `(namespace)/(env_name)-v(version)`
    where `namespace` is optional.

    It takes arbitrary keyword arguments, which are passed to the `EnvSpec` constructor.
    """
    global registry, current_namespace
    ns, name, version = parse_env_id(id)

    if current_namespace is not None:
        if kwargs.get("namespace") is not None:
            logger.warn(
                f"Custom namespace `{kwargs.get('namespace')}` is being overridden "
                f"by namespace `{current_namespace}`. If you are developing a "
                "plugin you shouldn't specify a namespace in `register` "
                "calls. The namespace is specified through the "
                "entry point package metadata."
            )
        ns_id = current_namespace
    else:
        ns_id = ns

    full_id = get_env_id(ns_id, name, version)

    spec = EnvSpec(id=full_id, **kwargs)
    _check_spec_register(spec)
    if spec.id in registry:
        logger.warn(f"Overriding environment {spec.id}")
    registry[spec.id] = spec


def make(
    id: str | EnvSpec,
    max_episode_steps: Optional[int] = None,
    autoreset: bool = False,
    disable_env_checker: bool = False,
    **kwargs,
) -> Env:
    """
    Create an environment according to the given ID.

    Warnings:
        In v0.24, `gym.utils.env_checker.env_checker` is run for every initialised environment.
        This calls the :meth:`Env.reset`, :meth:`Env.step` and :meth:`Env.render` functions to valid
        if they follow the gym API. To disable this feature, set parameter `disable_env_checker=True`.

    Args:
        id: Name of the environment.
        max_episode_steps: Maximum length of an episode (TimeLimit wrapper).
        autoreset: Whether to automatically reset the environment after each episode (AutoResetWrapper).
        disable_env_checker: If to disable the environment checker
        kwargs: Additional arguments to pass to the environment constructor.
    Returns:
        An instance of the environment.
    """
    if isinstance(id, EnvSpec):
        spec_ = id
    else:
        spec_ = registry.get(id)

        ns, name, version = parse_env_id(id)
        latest_version = find_highest_version(ns, name)
        if (
            version is not None
            and latest_version is not None
            and latest_version > version
        ):
            logger.warn(
                f"The environment {id} is out of date. You should consider "
                f"upgrading to version `v{latest_version}`."
            )
        if version is None and latest_version is not None:
            version = latest_version
            new_env_id = get_env_id(ns, name, version)
            spec_ = registry.get(new_env_id)
            logger.warn(
                f"Using the latest versioned environment `{new_env_id}` "
                f"instead of the unversioned environment `{id}`."
            )

        if spec_ is None:
            _check_version_exists(ns, name, version)
            raise error.Error(f"No registered env with id: {id}")

    _kwargs = spec_.kwargs.copy()
    _kwargs.update(kwargs)

    # TODO: add a minimal env checker on initialization
    if spec_.entry_point is None:
        raise error.Error(f"{spec_.id} registered but entry_point is not specified")
    elif callable(spec_.entry_point):
        cls = spec_.entry_point
    else:
        # Assume it's a string
        cls = load(spec_.entry_point)

    env = cls(**_kwargs)

    spec_ = copy.deepcopy(spec_)
    spec_.kwargs = _kwargs

    env.unwrapped.spec = spec_

    if spec_.order_enforce:
        env = OrderEnforcing(env)

    if max_episode_steps is not None:
        env = TimeLimit(env, max_episode_steps)
    elif spec_.max_episode_steps is not None:
        env = TimeLimit(env, spec_.max_episode_steps)

    if autoreset:
        env = AutoResetWrapper(env)

    if not disable_env_checker:
        try:
            check_env(env)
        except Exception as e:
            logger.warn(
                f"Env check failed with the following message: {e}\nYou can set `disable_env_checker=True` to disable this check."
            )

    return env


def spec(env_id: str) -> EnvSpec:
    """
    Retrieve the spec for the given environment from the global registry.
    """
    spec_ = registry.get(env_id)
    if spec_ is None:
        ns, name, version = parse_env_id(env_id)
        _check_version_exists(ns, name, version)
        raise error.Error(f"No registered env with id: {env_id}")
    else:
        assert isinstance(spec_, EnvSpec)
        return spec_