Managed environments actions / observations descriptions

scripts/environments/export_IODescriptors.py

@@ -0,0 +1,80 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Script to an environment with random action agent."""
+
+"""Launch Isaac Sim Simulator first."""
+
+import argparse
+
+from isaaclab.app import AppLauncher
+
+# add argparse arguments
+parser = argparse.ArgumentParser(description="Random agent for Isaac Lab environments.")
+parser.add_argument("--task", type=str, default=None, help="Name of the task.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
+args_cli = parser.parse_args()
+args_cli.headless = True
+
+# launch omniverse app
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+import gymnasium as gym
+import torch
+
+import isaaclab_tasks  # noqa: F401
+from isaaclab_tasks.utils import parse_env_cfg
+
+# PLACEHOLDER: Extension template (do not remove this comment)
+
+
+def main():
+    """Random actions agent with Isaac Lab environment."""
+    # create environment configuration
+    env_cfg = parse_env_cfg(args_cli.task, device=args_cli.device, num_envs=1, use_fabric=True)
+    # create environment
+    env = gym.make(args_cli.task, cfg=env_cfg)
+
+    # print info (this is vectorized environment)
+    print(f"[INFO]: Gym observation space: {env.observation_space}")
+    print(f"[INFO]: Gym action space: {env.action_space}")
+    # reset environment
+    env.reset()
+
+    outs = env.unwrapped.get_IO_descriptors
+    out = outs["observations"]
+    out_actions = outs["actions"]
+    # Make a yaml file with the output
+    import yaml
+
+    name = args_cli.task.lower().replace("-", "_")
+    name = name.replace(" ", "_")
+
+    with open(f"{name}_IO_descriptors.yaml", "w") as f:
+        yaml.safe_dump(outs, f)
+
+    for k, v in out_actions.items():
+        print(f"--- Action term: {k} ---")
+        for k1, v1 in v.items():
+            print(f"{k1}: {v1}")
+
+    for k, v in out.items():
+        print(f"--- Obs term: {k} ---")
+        for k1, v1 in v.items():
+            print(f"{k1}: {v1}")
+    env.step(torch.zeros(env.action_space.shape, device=env.unwrapped.device))
+    env.close()
+
+
+if __name__ == "__main__":
+    # run the main function
+    main()
+    # close sim app
+    simulation_app.close()

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -210,6 +210,18 @@ def device(self):
         """The device on which the environment is running."""
         return self.sim.device
 
+    @property
+    def get_IO_descriptors(self):
+        """Get the IO descriptors for the environment.
+
+        Returns:
+            A dictionary with keys as the group names and values as the IO descriptors.
+        """
+        return {
+            "observations": self.observation_manager.get_IO_descriptors,
+            "actions": self.action_manager.get_IO_descriptors,
+        }
+
     """
     Operations - Setup.
     """

source/isaaclab/isaaclab/envs/mdp/actions/binary_joint_actions.py

@@ -17,6 +17,7 @@
 
 if TYPE_CHECKING:
     from isaaclab.envs import ManagerBasedEnv
+    from isaaclab.envs.utils.io_descriptors import GenericActionIODescriptor
 
     from . import actions_cfg
 
@@ -111,6 +112,15 @@ def raw_actions(self) -> torch.Tensor:
     def processed_actions(self) -> torch.Tensor:
         return self._processed_actions
 
+    @property
+    def IO_descriptor(self) -> GenericActionIODescriptor:
+        super().IO_descriptor
+        self._IO_descriptor.shape = (self.action_dim,)
+        self._IO_descriptor.dtype = str(self.raw_actions.dtype)
+        self._IO_descriptor.action_type = "JointAction"
+        self._IO_descriptor.joint_names = self._joint_names
+        return self._IO_descriptor
+
     """
     Operations.
     """

source/isaaclab/isaaclab/envs/mdp/actions/joint_actions.py

@@ -17,6 +17,7 @@
 
 if TYPE_CHECKING:
     from isaaclab.envs import ManagerBasedEnv
+    from isaaclab.envs.utils.io_descriptors import GenericActionIODescriptor
 
     from . import actions_cfg
 
@@ -123,6 +124,25 @@ def raw_actions(self) -> torch.Tensor:
     def processed_actions(self) -> torch.Tensor:
         return self._processed_actions
 
+    @property
+    def IO_descriptor(self) -> GenericActionIODescriptor:
+        super().IO_descriptor
+        self._IO_descriptor.shape = (self.action_dim,)
+        self._IO_descriptor.dtype = str(self.raw_actions.dtype)
+        self._IO_descriptor.action_type = "JointAction"
+        self._IO_descriptor.joint_names = self._joint_names
+        self._IO_descriptor.scale = self._scale
+        # This seems to be always [4xNum_joints] IDK why. Need to check.
+        if isinstance(self._offset, torch.Tensor):
+            self._IO_descriptor.offset = self._offset[0].detach().cpu().numpy().tolist()
+        else:
+            self._IO_descriptor.offset = self._offset
+        if self.cfg.clip is not None:
+            self._IO_descriptor.clip = self._clip
+        else:
+            self._IO_descriptor.clip = None
+        return self._IO_descriptor
+
     """
     Operations.
     """

source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py

@@ -18,6 +18,7 @@
 
 if TYPE_CHECKING:
     from isaaclab.envs import ManagerBasedEnv
+    from isaaclab.envs.utils.io_descriptors import GenericActionIODescriptor
 
     from . import actions_cfg
 
@@ -105,6 +106,25 @@ def raw_actions(self) -> torch.Tensor:
     def processed_actions(self) -> torch.Tensor:
         return self._processed_actions
 
+    @property
+    def IO_descriptor(self) -> GenericActionIODescriptor:
+        super().IO_descriptor
+        self._IO_descriptor.shape = (self.action_dim,)
+        self._IO_descriptor.dtype = str(self.raw_actions.dtype)
+        self._IO_descriptor.action_type = "JointAction"
+        self._IO_descriptor.joint_names = self._joint_names
+        self._IO_descriptor.scale = self._scale
+        # This seems to be always [4xNum_joints] IDK why. Need to check.
+        if isinstance(self._offset, torch.Tensor):
+            self._IO_descriptor.offset = self._offset[0].detach().cpu().numpy().tolist()
+        else:
+            self._IO_descriptor.offset = self._offset
+        if self.cfg.clip is not None:
+            self._IO_descriptor.clip = self._clip
+        else:
+            self._IO_descriptor.clip = None
+        return self._IO_descriptor
+
     """
     Operations.
     """
@@ -195,6 +215,20 @@ def __init__(self, cfg: actions_cfg.EMAJointPositionToLimitsActionCfg, env: Mana
         # initialize the previous targets
         self._prev_applied_actions = torch.zeros_like(self.processed_actions)
 
+    @property
+    def IO_descriptor(self) -> GenericActionIODescriptor:
+        super().IO_descriptor
+        if isinstance(self._alpha, float):
+            self._IO_descriptor.alpha = self._alpha
+        elif isinstance(self._alpha, torch.Tensor):
+            self._IO_descriptor.alpha = self._alpha[0].detach().cpu().numpy().tolist()
+        else:
+            raise ValueError(
+                f"Unsupported moving average weight type: {type(self._alpha)}. Supported types are float and"
+                " torch.Tensor."
+            )
+        return self._IO_descriptor
+
     def reset(self, env_ids: Sequence[int] | None = None) -> None:
         # check if specific environment ids are provided
         if env_ids is None:

source/isaaclab/isaaclab/envs/mdp/actions/non_holonomic_actions.py

@@ -18,6 +18,7 @@
 
 if TYPE_CHECKING:
     from isaaclab.envs import ManagerBasedEnv
+    from isaaclab.envs.utils.io_descriptors import GenericActionIODescriptor
 
     from . import actions_cfg
 
@@ -134,6 +135,21 @@ def raw_actions(self) -> torch.Tensor:
     def processed_actions(self) -> torch.Tensor:
         return self._processed_actions
 
+    @property
+    def IO_descriptor(self) -> GenericActionIODescriptor:
+        super().IO_descriptor
+        self._IO_descriptor.shape = (self.action_dim,)
+        self._IO_descriptor.dtype = str(self.raw_actions.dtype)
+        self._IO_descriptor.action_type = "non holonomic actions"
+        self._IO_descriptor.scale = self._scale
+        self._IO_descriptor.offset = self._offset
+        self._IO_descriptor.clip = self._clip
+        self._IO_descriptor.body_name = self._body_name
+        self._IO_descriptor.x_joint_name = self._joint_names[0]
+        self._IO_descriptor.y_joint_name = self._joint_names[1]
+        self._IO_descriptor.yaw_joint_name = self._joint_names[2]
+        return self._IO_descriptor
+
     """
     Operations.
     """

source/isaaclab/isaaclab/envs/mdp/actions/pink_task_space_actions.py

@@ -22,6 +22,7 @@
 
 if TYPE_CHECKING:
     from isaaclab.envs import ManagerBasedEnv
+    from isaaclab.envs.utils.io_descriptors import GenericActionIODescriptor
 
     from . import pink_actions_cfg
 
@@ -130,6 +131,17 @@ def processed_actions(self) -> torch.Tensor:
         """Get the processed actions tensor."""
         return self._processed_actions
 
+    @property
+    def IO_descriptor(self) -> GenericActionIODescriptor:
+        super().IO_descriptor
+        self._IO_descriptor.shape = (self.action_dim,)
+        self._IO_descriptor.dtype = str(self.raw_actions.dtype)
+        self._IO_descriptor.action_type = "PinkInverseKinematicsAction"
+        self._IO_descriptor.pink_controller_joint_names = self._pink_controlled_joint_names
+        self._IO_descriptor.hand_joint_names = self._hand_joint_names
+        self._IO_descriptor.extras["controller_cfg"] = self.cfg.controller.__dict__
+        return self._IO_descriptor
+
     # """
     # Operations.
     # """

source/isaaclab/isaaclab/envs/mdp/actions/task_space_actions.py

@@ -23,6 +23,7 @@
 
 if TYPE_CHECKING:
     from isaaclab.envs import ManagerBasedEnv
+    from isaaclab.envs.utils.io_descriptors import GenericActionIODescriptor
 
     from . import actions_cfg
 
@@ -148,6 +149,23 @@ def jacobian_b(self) -> torch.Tensor:
         jacobian[:, 3:, :] = torch.bmm(base_rot_matrix, jacobian[:, 3:, :])
         return jacobian
 
+    @property
+    def IO_descriptor(self) -> GenericActionIODescriptor:
+        super().IO_descriptor
+        self._IO_descriptor.shape = (self.action_dim,)
+        self._IO_descriptor.dtype = str(self.raw_actions.dtype)
+        self._IO_descriptor.action_type = "TaskSpaceAction"
+        self._IO_descriptor.body_name = self._body_name
+        self._IO_descriptor.joint_names = self._joint_names
+        self._IO_descriptor.scale = self._scale
+        if self.cfg.clip is not None:
+            self._IO_descriptor.clip = self.cfg.clip
+        else:
+            self._IO_descriptor.clip = None
+        self._IO_descriptor.extras["controller_cfg"] = self.cfg.controller.__dict__
+        self._IO_descriptor.extras["body_offset"] = self.cfg.body_offset.__dict__
+        return self._IO_descriptor
+
     """
     Operations.
     """
@@ -409,6 +427,28 @@ def jacobian_b(self) -> torch.Tensor:
         jacobian[:, 3:, :] = torch.bmm(base_rot_matrix, jacobian[:, 3:, :])
         return jacobian
 
+    @property
+    def IO_descriptor(self) -> GenericActionIODescriptor:
+        super().IO_descriptor
+        self._IO_descriptor.shape = (self.action_dim,)
+        self._IO_descriptor.dtype = str(self.raw_actions.dtype)
+        self._IO_descriptor.action_type = "TaskSpaceAction"
+        self._IO_descriptor.body_name = self._ee_body_name
+        self._IO_descriptor.joint_names = self._joint_names
+        self._IO_descriptor.position_scale = self.cfg.position_scale
+        self._IO_descriptor.orientation_scale = self.cfg.orientation_scale
+        self._IO_descriptor.wrench_scale = self.cfg.wrench_scale
+        self._IO_descriptor.stiffness_scale = self.cfg.stiffness_scale
+        self._IO_descriptor.damping_ratio_scale = self.cfg.damping_ratio_scale
+        self._IO_descriptor.nullspace_joint_pos_target = self.cfg.nullspace_joint_pos_target
+        if self.cfg.clip is not None:
+            self._IO_descriptor.clip = self.cfg.clip
+        else:
+            self._IO_descriptor.clip = None
+        self._IO_descriptor.extras["controller_cfg"] = self.cfg.controller_cfg.__dict__
+        self._IO_descriptor.extras["body_offset"] = self.cfg.body_offset.__dict__
+        return self._IO_descriptor
+
     """
     Operations.
     """