| import logging |
| from pathlib import Path |
| from typing import Any |
|
|
| import yaml |
|
|
| HUB_REPO_ID = "nvidia/isaaclab-arena-envs" |
| DEFAULT_CONFIG_FILE = "configs/config.yaml" |
|
|
|
|
| def validate_config( |
| env, |
| state_keys: tuple[str, ...], |
| camera_keys: tuple[str, ...], |
| cfg_state_dim: int, |
| cfg_action_dim: int, |
| ) -> None: |
| """Validate observation keys and dimensions against IsaacLab managers.""" |
| obs_manager = env.observation_manager |
| active_terms = obs_manager.active_terms |
| policy_terms = set(active_terms.get("policy", [])) |
| camera_terms = set(active_terms.get("camera_obs", [])) |
|
|
| |
| missing_state = [k for k in state_keys if k not in policy_terms] |
| if missing_state: |
| raise ValueError(f"Invalid state_keys: {missing_state}. Available: {sorted(policy_terms)}") |
|
|
| missing_cam = [k for k in camera_keys if k not in camera_terms] |
| if missing_cam: |
| raise ValueError(f"Invalid camera_keys: {missing_cam}. Available: {sorted(camera_terms)}") |
|
|
| |
| env_action_dim = env.action_space.shape[-1] |
| if cfg_action_dim != env_action_dim: |
| raise ValueError(f"action_dim mismatch: config={cfg_action_dim}, env={env_action_dim}") |
|
|
| |
| policy_dims = obs_manager.group_obs_dim.get("policy", []) |
| policy_names = active_terms.get("policy", []) |
| term_dims = dict(zip(policy_names, policy_dims, strict=False)) |
|
|
| expected_state_dim = 0 |
| for key in state_keys: |
| if key in term_dims: |
| shape = term_dims[key] |
| dim = 1 |
| for s in shape if isinstance(shape, (tuple, list)) else [shape]: |
| dim *= s |
| expected_state_dim += dim |
|
|
| if cfg_state_dim != expected_state_dim: |
| raise ValueError( |
| f"state_dim mismatch: config={cfg_state_dim}, " |
| f"computed={expected_state_dim}. " |
| f"Term dims: {term_dims}" |
| ) |
|
|
| logging.info(f"Validated: state_keys={state_keys}, camera_keys={camera_keys}") |
|
|
|
|
| def load_config(config_path: str | Path | None = None) -> dict[str, Any]: |
| """Load environment config from YAML file. |
| |
| Args: |
| config_path: Path to YAML config file. |
| If None, uses default configs/config.yaml. |
| |
| Returns: |
| Dictionary with environment configuration. |
| """ |
| |
| from huggingface_hub import hf_hub_download |
|
|
| config_path = hf_hub_download( |
| repo_id=HUB_REPO_ID, filename=DEFAULT_CONFIG_FILE |
| ) |
|
|
| logging.info(f"Loading config from: {config_path}") |
| with open(config_path) as f: |
| config = yaml.safe_load(f) or {} |
|
|
| return config |
