safe_gymnasium | Overriding environment {new_spec.id} already in registry.

safe_gymnasium中__init__.py如下

# Copyright 2022-2023 OmniSafe Team. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
"""Safety-Gymnasium Environments."""

import copy

from gymnasium import make as gymnasium_make
from gymnasium import register as gymnasium_register

from vlmsrl.sgym import vector, wrappers
from vlmsrl.sgym.tasks.safe_multi_agent.tasks.velocity.safe_mujoco_multi import make_ma
from vlmsrl.sgym.utils.registration import make, register
from vlmsrl.sgym.version import __version__

import warnings

warnings.filterwarnings("ignore", category=UserWarning, message=".*already in registry.*")


__all__ = [
    'register',
    'make',
    'gymnasium_make',
    'gymnasium_register',
]

VERSION = 'v0'
ROBOT_NAMES = ('Point', 'Car', 'Doggo', 'Racecar', 'Ant', 'Aloha')
MAKE_VISION_ENVIRONMENTS = True
MAKE_DEBUG_ENVIRONMENTS = True

# ========================================
# Helper Methods for Easy Registration
# ========================================

PREFIX = 'Safety'

robots = ROBOT_NAMES


def __register_helper(env_id, entry_point, spec_kwargs=None, **kwargs):
    """Register a environment to both Safety-Gymnasium and Gymnasium registry."""
    env_name, dash, version = env_id.partition('-')
    if spec_kwargs is None:
        spec_kwargs = {}

    register(
        id=env_id,
        entry_point=entry_point,
        kwargs=spec_kwargs,
        **kwargs,
    )
    gymnasium_register(
        id=f'{env_name}Gymnasium{dash}{version}',
        entry_point='sgym.wrappers.gymnasium_conversion:make_gymnasium_environment',
        kwargs={'env_id': f'{env_name}Gymnasium{dash}{version}', **copy.deepcopy(spec_kwargs)},
        **kwargs,
    )


def __combine(tasks, agents, max_episode_steps):
    """Combine tasks and agents together to register environment tasks."""
    for task_name, task_config in tasks.items():
        # Vector inputs
        for robot_name in agents:
            env_id = f'{PREFIX}{robot_name}{task_name}-{VERSION}'
            combined_config = copy.deepcopy(task_config)
            combined_config.update({'agent_name': robot_name})

            __register_helper(
                env_id=env_id,
                entry_point='sgym.builder:Builder',
                spec_kwargs={'config': combined_config, 'task_id': env