added stripping of doc strings + units here and here

Author: AntoineRichard

source/isaaclab/isaaclab/envs/mdp/observations.py

@@ -184,7 +184,7 @@ def body_projected_gravity_b(
 """
 
 
-@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape])
+@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="rad")
 def joint_pos(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
     """The joint positions of the asset.
 
@@ -195,7 +195,7 @@ def joint_pos(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("
     return asset.data.joint_pos[:, asset_cfg.joint_ids]
 
 
-@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape])
+@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="rad")
 def joint_pos_rel(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
     """The joint positions of the asset w.r.t. the default joint positions.
 
@@ -223,7 +223,7 @@ def joint_pos_limit_normalized(
     )
 
 
-@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape])
+@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="rad/s")
 def joint_vel(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")):
     """The joint velocities of the asset.
 
@@ -234,7 +234,7 @@ def joint_vel(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("
     return asset.data.joint_vel[:, asset_cfg.joint_ids]
 
 
-@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape])
+@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="rad/s")
 def joint_vel_rel(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")):
     """The joint velocities of the asset w.r.t. the default joint velocities.
 
@@ -245,7 +245,7 @@ def joint_vel_rel(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityC
     return asset.data.joint_vel[:, asset_cfg.joint_ids] - asset.data.default_joint_vel[:, asset_cfg.joint_ids]
 
 
-@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape])
+@generic_io_descriptor(observation_type="JointState", on_inspect=[record_joint_names, record_dtype, record_shape], units="N.m")
 def joint_effort(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
     """The joint applied effort of the robot.
 

source/isaaclab/isaaclab/envs/utils/io_descriptors.py

@@ -152,7 +152,7 @@ def wrapper(env: ManagerBasedEnv, *args: P.args, **kwargs: P.kwargs) -> R:
         descriptor.dtype = str(descriptor.dtype)
         # Check if description is set in the descriptor
         if descriptor.description is None:
-            descriptor.description = func.__doc__
+            descriptor.description = " ".join(func.__doc__.split())
 
         # Adds the descriptor to the wrapped function as an attribute
         wrapper._descriptor = descriptor

source/isaaclab/isaaclab/managers/action_manager.py

@@ -99,7 +99,7 @@ def IO_descriptor(self) -> GenericActionIODescriptor:
         """The IO descriptor for the action term."""
         self._IO_descriptor.name = re.sub(r"([a-z])([A-Z])", r"\1_\2", self.__class__.__name__).lower()
         self._IO_descriptor.full_path = f"{self.__class__.__module__}.{self.__class__.__name__}"
-        self._IO_descriptor.description = self.__class__.__doc__
+        self._IO_descriptor.description = " ".join(self.__class__.__doc__.split())
         return self._IO_descriptor
 
     """