[gym/common] Remove error-prone, confusing and slow '__getattr__' fal…

…lback in pipelines.

python/gym_jiminy/common/gym_jiminy/common/bases/interfaces.py

@@ -17,6 +17,7 @@
 
 from ..utils import DataNested
 if TYPE_CHECKING:
+    from ..envs.generic import BaseJiminyEnv
     from ..quantities import QuantityManager
 
 
@@ -220,6 +221,9 @@ def __init__(self, *args: Any, **kwargs: Any) -> None:
         # Call super to allow mixing interfaces through multiple inheritance
         super().__init__(*args, **kwargs)
 
+        # Define convenience proxy for quantity manager
+        self.quantities = self.unwrapped.quantities
+
     def _setup(self) -> None:
         """Configure the observer-controller.
 
@@ -336,8 +340,9 @@ def _controller_handle(self,
         self.__is_observation_refreshed = False
 
     @property
-    def unwrapped(self) -> "InterfaceJiminyEnv":
-        """Base environment of the pipeline.
+    def unwrapped(self) -> "BaseJiminyEnv":
+        """The "underlying environment at the basis of the pipeline from which
+        this environment is part of.
         """
         return self
 

python/gym_jiminy/common/gym_jiminy/common/bases/pipeline.py

@@ -16,7 +16,7 @@
 from collections import OrderedDict
 from typing import (
     Dict, Any, List, Optional, Tuple, Union, Generic, TypeVar, SupportsFloat,
-    Callable, cast)
+    Callable, cast, TYPE_CHECKING)
 
 import numpy as np
 
@@ -37,6 +37,8 @@
 from .blocks import BaseControllerBlock, BaseObserverBlock
 
 from ..utils import DataNested, is_breakpoint, zeros, build_copyto, copy
+if TYPE_CHECKING:
+    from ..envs.generic import BaseJiminyEnv
 
 
 OtherObsT = TypeVar('OtherObsT', bound=DataNested)
@@ -96,22 +98,6 @@ def __init__(self,
         # may be overwritten by derived classes afterward.
         self._copyto_action: Callable[[ActT], None] = lambda action: None
 
-    def __getattr__(self, name: str) -> Any:
-        """Convenient fallback attribute getter.
-
-        It enables to get access to the attribute and methods of the wrapped
-        environment directly without having to do it through `env`.
-        """
-        return getattr(self.__getattribute__('env'), name)
-
-    def __dir__(self) -> List[str]:
-        """Attribute lookup.
-
-        It is mainly used by autocomplete feature of Ipython. It is overloaded
-        to get consistent autocompletion wrt `getattr`.
-        """
-        return [*super().__dir__(), *dir(self.env)]
-
     @property
     def render_mode(self) -> Optional[str]:
         """Rendering mode of the base environment.
@@ -143,9 +129,7 @@ def np_random(self, value: np.random.Generator) -> None:
         self.env.np_random = value
 
     @property
-    def unwrapped(self) -> InterfaceJiminyEnv:
-        """Base environment of the pipeline.
-        """
+    def unwrapped(self) -> "BaseJiminyEnv":
         return self.env.unwrapped
 
     @property
@@ -236,8 +220,7 @@ def step(self,  # type: ignore[override]
             self._copyto_action(action)
 
             # Make sure that the pipeline has not change since last reset
-            env_derived = (
-                self.unwrapped.derived)  # type: ignore[attr-defined]
+            env_derived = self.unwrapped.derived
             if env_derived is not self:
                 raise RuntimeError(
                     "Pipeline environment has changed. Please call 'reset' "
@@ -532,14 +515,14 @@ def __init__(self,
         # Register the observer's internal state and feature to the telemetry
         if state is not None:
             try:
-                self.env.register_variable(  # type: ignore[attr-defined]
+                self.unwrapped.register_variable(
                     'state', state, None, self.observer.name)
             except ValueError:
                 pass
-        self.env.register_variable('feature',  # type: ignore[attr-defined]
-                                   self.observer.observation,
-                                   self.observer.fieldnames,
-                                   self.observer.name)
+        self.unwrapped.register_variable('feature',
+                                         self.observer.observation,
+                                         self.observer.fieldnames,
+                                         self.observer.name)
 
     def _setup(self) -> None:
         """Configure the wrapper.
@@ -750,14 +733,14 @@ def __init__(self,
         # Register the controller's internal state and target to the telemetry
         if state is not None:
             try:
-                self.env.register_variable(  # type: ignore[attr-defined]
+                self.unwrapped.register_variable(
                     'state', state, None, self.controller.name)
             except ValueError:
                 pass
-        self.env.register_variable('action',  # type: ignore[attr-defined]
-                                   self.action,
-                                   self.controller.fieldnames,
-                                   self.controller.name)
+        self.unwrapped.register_variable('action',
+                                         self.action,
+                                         self.controller.fieldnames,
+                                         self.controller.name)
 
     def _setup(self) -> None:
         """Configure the wrapper.

python/gym_jiminy/common/gym_jiminy/common/envs/generic.py

@@ -100,6 +100,12 @@ class BaseJiminyEnv(InterfaceJiminyEnv[ObsT, ActT],
     to implement one. It has been designed to be highly flexible and easy to
     customize by overloading it to fit the vast majority of users' needs.
     """
+
+    derived: "InterfaceJiminyEnv"
+    """Top-most block from which this environment is part of when leveraging
+    modular pipeline design capability.
+    """
+
     def __init__(self,
                  simulator: Simulator,
                  step_dt: float,
@@ -186,8 +192,8 @@ def __init__(self,
         self.sensor_measurements: SensorMeasurementStackMap = OrderedDict(
             self.robot.sensor_measurements)
 
-        # Top-most block of the pipeline to which the environment is part of
-        self.derived: InterfaceJiminyEnv = self
+        # Top-most block of the pipeline is the environment itself by default
+        self.derived = self
 
         # Store references to the variables to register to the telemetry
         self._registered_variables: MutableMappingT[
@@ -215,6 +221,9 @@ def __init__(self,
         self.num_steps = np.array(-1, dtype=np.int64)
         self._num_steps_beyond_terminate: Optional[int] = None
 
+        # Initialize a quantity manager for later use
+        self.quantities = QuantityManager(self)
+
         # Initialize the interfaces through multiple inheritance
         super().__init__()  # Do not forward extra arguments, if any
 
@@ -233,9 +242,6 @@ def __init__(self,
                 "`BaseJiminyEnv.compute_command` must be overloaded in case "
                 "of custom action spaces.")
 
-        # Initialize a quantity manager for later use
-        self.quantities = QuantityManager(self)
-
         # Define specialized operators for efficiency.
         # Note that a partial view of observation corresponding to measurement
         # must be extracted since only this one must be updated during refresh.

python/gym_jiminy/toolbox/gym_jiminy/toolbox/wrappers/frame_rate_limiter.py

@@ -44,7 +44,6 @@ def __init__(self,  # pylint: disable=unused-argument
         self.human_only = human_only
 
         # Extract proxies for convenience
-        assert isinstance(env.unwrapped, BaseJiminyEnv)
         self._step_dt_rel = env.unwrapped.step_dt / speed_ratio
 
         # Buffer to keep track of the last time `step` method was called