first clean up and some non working ideas sketched

alr_envs/utils/__init__.py

@@ -20,12 +20,13 @@ def make_dmc(
         environment_kwargs: dict = {},
         time_limit: Union[None, float] = None,
         channels_first: bool = True
-):
+        ):
     # Adopted from: https://github.com/denisyarats/dmc2gym/blob/master/dmc2gym/__init__.py
     # License: MIT
     # Copyright (c) 2020 Denis Yarats
 
-    assert re.match(r"\w+-\w+", id), "env_id does not have the following structure: 'domain_name-task_name'"
+    if not re.match(r"\w+-\w+", id):
+        raise ValueError("env_id does not have the following structure: 'domain_name-task_name'")
     domain_name, task_name = id.split("-")
 
     env_id = f'dmc_{domain_name}_{task_name}_{seed}-v1'
@@ -60,7 +61,7 @@ def make_dmc(
                 camera_id=camera_id,
                 frame_skip=frame_skip,
                 channels_first=channels_first,
-            ),
+                ),
             max_episode_steps=max_episode_steps,
-        )
+            )
     return gym.make(env_id)

alr_envs/utils/make_env_helpers.py

@@ -55,7 +55,7 @@ def make(env_id: str, seed, **kwargs):
     Returns: Gym environment
 
     """
-    if any([det_pmp in env_id for det_pmp in ["DetPMP", "detpmp"]]):
+    if any(deprec in env_id for deprec in ["DetPMP", "detpmp"]):
         warnings.warn("DetPMP is deprecated and converted to ProMP")
         env_id = env_id.replace("DetPMP", "ProMP")
         env_id = env_id.replace("detpmp", "promp")
@@ -92,14 +92,17 @@ def make(env_id: str, seed, **kwargs):
             from alr_envs import make_dmc
             env = make_dmc(env_id, seed=seed, **kwargs)
 
-            assert env.base_step_limit == env.spec.max_episode_steps, \
-                f"The specified 'episode_length' of {env.spec.max_episode_steps} steps for gym is different from " \
-                f"the DMC environment specification of {env.base_step_limit} steps."
+            if not env.base_step_limit == env.spec.max_episode_steps:
+                raise ValueError(f"The specified 'episode_length' of {env.spec.max_episode_steps} steps for gym "
+                                 f"is different from the DMC environment specification of {env.base_step_limit} steps.")
 
     return env
 
-def _make_wrapped_env(env_id: str, wrappers: Iterable[Type[gym.Wrapper]], mp: MPInterface, controller: BaseController,
-                      ep_wrapper_kwargs: Mapping, seed=1, **kwargs):
+
+def _make_wrapped_env(
+        env_id: str, wrappers: Iterable[Type[gym.Wrapper]], mp: MPInterface, controller: BaseController,
+        ep_wrapper_kwargs: Mapping, seed=1, **kwargs
+        ):
     """
     Helper function for creating a wrapped gym environment using MPs.
     It adds all provided wrappers to the specified environment and verifies at least one MPEnvWrapper is
@@ -120,13 +123,14 @@ def _make_wrapped_env(env_id: str, wrappers: Iterable[Type[gym.Wrapper]], mp: MP
         # only wrap the environment if not EpisodicWrapper, e.g. for vision
         if not issubclass(w, EpisodicWrapper):
             _env = w(_env)
-        else: # if EpisodicWrapper, use specific constructor
+        else:  # if EpisodicWrapper, use specific constructor
             has_episodic_wrapper = True
             _env = w(env=_env, mp=mp, controller=controller, **ep_wrapper_kwargs)
-    assert has_episodic_wrapper, \
-            "At least one MPEnvWrapper is required in order to leverage motion primitive environments."
+    if not has_episodic_wrapper:
+        raise ValueError("An EpisodicWrapper is required in order to leverage movement primitive environments.")
     return _env
 
+
 def make_mp_from_kwargs(
         env_id: str, wrappers: Iterable, ep_wrapper_kwargs: MutableMapping, mp_kwargs: MutableMapping,
         controller_kwargs: MutableMapping, phase_kwargs: MutableMapping, basis_kwargs: MutableMapping, seed=1,
@@ -152,7 +156,7 @@ def make_mp_from_kwargs(
     _verify_time_limit(mp_kwargs.get("duration", None), kwargs.get("time_limit", None))
     dummy_env = make(env_id, seed)
     if ep_wrapper_kwargs.get('duration', None) is None:
-        ep_wrapper_kwargs['duration'] = dummy_env.spec.max_episode_steps*dummy_env.dt
+        ep_wrapper_kwargs['duration'] = dummy_env.spec.max_episode_steps * dummy_env.dt
     if phase_kwargs.get('tau', None) is None:
         phase_kwargs['tau'] = ep_wrapper_kwargs['duration']
     mp_kwargs['action_dim'] = mp_kwargs.get('action_dim', np.prod(dummy_env.action_space.shape).item())
@@ -207,10 +211,11 @@ def make_mp_env_helper(**kwargs):
     phase_kwargs = kwargs.pop("phase_generator_kwargs")
     basis_kwargs = kwargs.pop("basis_generator_kwargs")
 
-    return make_mp_from_kwargs(env_id=kwargs.pop("name"), wrappers=wrappers,  ep_wrapper_kwargs=ep_wrapper_kwargs,
+    return make_mp_from_kwargs(env_id=kwargs.pop("name"), wrappers=wrappers, ep_wrapper_kwargs=ep_wrapper_kwargs,
                                mp_kwargs=mp_kwargs, controller_kwargs=contr_kwargs, phase_kwargs=phase_kwargs,
                                basis_kwargs=basis_kwargs, **kwargs, seed=seed)
 
+
 def make_dmp_env(env_id: str, wrappers: Iterable, seed=1, mp_kwargs={}, **kwargs):
     """
     This can also be used standalone for manually building a custom DMP environment.