[Question How to set bounds to my action and observation spaces and also change its type? #1264

chandramohanjagadeesan · 2024-10-17T18:25:16Z

chandramohanjagadeesan
Oct 17, 2024

This question is related to the recent commit #1117

I have a direct workflow environment. I want to specify the type and bonds for action spaces and observation spaces. I was not able to find the documentation to use this feature. Can you please let me know where is it?

Thanks and regards,
Chadra Mohan Jagadeesan

Toni-SM · 2024-10-17T20:31:32Z

Toni-SM
Oct 17, 2024
Collaborator

Hi @chandramohanjagadeesan

The feature implemented in #1117 is documented in:

You can define in your Direct task the spaces using the Gymnasium API (when a more detailed specification of the space is desired) as follows:

import gymnasium as gym

@configclass
class CustomEnvCfg(DirectRLEnvCfg):
    action_space = 1
    state_space = 0
    observation_space = gym.spaces.Box(low=-1.0, high=2.0, shape=(3, 4), dtype=np.float32)

0 replies

chandramohanjagadeesan · 2024-10-24T19:19:01Z

chandramohanjagadeesan
Oct 24, 2024
Author

Hi @Toni-SM,

I tried using a dict as specified in the doc. Now during training Hydra does not support the type can you please let me know if there are specific ways to give values to them?

6 replies

chandramohanjagadeesan Oct 24, 2024
Author

@Toni-SM Thanks for the reply,

These are the details:

EnvCfg :

    min_value = np.array([-2.8973, -1.762799998, -2.8973, -3.0717999, -2.8973, 0.0175, -2.8973], dtype=np.float32)
    max_value = np.array([2.8973, 1.762799998, 2.8973, -0.06980008, 2.8973, 3.75249995, 2.8973], dtype=np.float32)
    
    action_space = spaces.Box(low=min_value, high=max_value, dtype=np.float32)

    # Define observation space for the point cloud (1024 points, 256 features per point)
    point_cloud_space = spaces.Box(low=-1.0, high=1.0, shape=(1024, 256), dtype=np.float32)

    # Define observation space for joint positions (same as action space, 7 values)
    joint_pos_space = spaces.Box(low=min_value, high=max_value, dtype=np.float32)

    # Combine both into a dictionary observation space
    observation_space = spaces.Dict({
        "Obs_pct" : point_cloud_space,
        "Obs_joint_pos": joint_pos_space  # Joint positions
    })

Error:

Exception has occurred: UnsupportedValueType
Value 'Float32DType' is not a supported primitive type
    full_key: env.observation_space.spaces.Obs_joint_pos.dtype
    object_type=dict
  File "/media/team_omd/DATA/omniverse/pkg/IsaacLab/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 53, in register_task_to_hydra
    ConfigStore.instance().store(name=task_name, node=cfg_dict)
  File "/media/team_omd/DATA/omniverse/pkg/IsaacLab/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 75, in wrapper
    env_cfg, agent_cfg = register_task_to_hydra(task_name, agent_cfg_entry_point)
  File "/home/team_omd/Projects/chandra_ma/continual_nbv/NBVPlanning/train.py", line 186, in <module>
    main()
omegaconf.errors.UnsupportedValueType: Value 'Float32DType' is not a supported primitive type
    full_key: env.observation_space.spaces.Obs_joint_pos.dtype
    object_type=dict

If you require any other details please let me know and I can provide them

chandramohanjagadeesan Oct 25, 2024
Author

I am adding the logs from terminal for more details :

-------------------------------
Registering NBV Environment
-------------------------------
Backend TkAgg is interactive backend. Turning interactive mode on.
[INFO]: Parsing configuration from: <class 'Environment.NBVEnv.NBVEnvCfg'>
[INFO]: Parsing configuration from: /home/team_omd/Projects/chandra_ma/continual_nbv/NBVPlanning/Environment/agents/skrl_ppo_cfg.yaml
Traceback (most recent call last):
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/runpy.py", line 196, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/runpy.py", line 86, in _run_code
    exec(code, run_globals)
  File "/home/team_omd/.vscode/extensions/ms-python.debugpy-2024.12.0-linux-x64/bundled/libs/debugpy/adapter/../../debugpy/launcher/../../debugpy/__main__.py", line 71, in <module>
    cli.main()
  File "/home/team_omd/.vscode/extensions/ms-python.debugpy-2024.12.0-linux-x64/bundled/libs/debugpy/adapter/../../debugpy/launcher/../../debugpy/../debugpy/server/cli.py", line 501, in main
    run()
  File "/home/team_omd/.vscode/extensions/ms-python.debugpy-2024.12.0-linux-x64/bundled/libs/debugpy/adapter/../../debugpy/launcher/../../debugpy/../debugpy/server/cli.py", line 351, in run_file
    runpy.run_path(target, run_name="__main__")
  File "/home/team_omd/.vscode/extensions/ms-python.debugpy-2024.12.0-linux-x64/bundled/libs/debugpy/_vendored/pydevd/_pydevd_bundle/pydevd_runpy.py", line 310, in run_path
    return _run_module_code(code, init_globals, run_name, pkg_name=pkg_name, script_name=fname)
  File "/home/team_omd/.vscode/extensions/ms-python.debugpy-2024.12.0-linux-x64/bundled/libs/debugpy/_vendored/pydevd/_pydevd_bundle/pydevd_runpy.py", line 127, in _run_module_code
    _run_code(code, mod_globals, init_globals, mod_name, mod_spec, pkg_name, script_name)
  File "/home/team_omd/.vscode/extensions/ms-python.debugpy-2024.12.0-linux-x64/bundled/libs/debugpy/_vendored/pydevd/_pydevd_bundle/pydevd_runpy.py", line 118, in _run_code
    exec(code, run_globals)
  File "/home/team_omd/Projects/chandra_ma/continual_nbv/NBVPlanning/train.py", line 186, in <module>
    main()
  File "/media/team_omd/DATA/omniverse/pkg/IsaacLab/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 75, in wrapper
    env_cfg, agent_cfg = register_task_to_hydra(task_name, agent_cfg_entry_point)
  File "/media/team_omd/DATA/omniverse/pkg/IsaacLab/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 53, in register_task_to_hydra
    ConfigStore.instance().store(name=task_name, node=cfg_dict)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/hydra/core/config_store.py", line 85, in store
    cfg = OmegaConf.structured(node)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 125, in structured
    return OmegaConf.create(obj, parent, flags)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 178, in create
    return OmegaConf._create_impl(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 900, in _create_impl
    format_and_raise(node=None, key=None, value=None, msg=str(e), cause=e)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 861, in _create_impl
    return DictConfig(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 899, in format_and_raise
    _raise(ex, cause)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1045, in _node_wrap
    node = AnyNode(value=value, key=key, parent=parent)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 135, in __init__
    super().__init__(
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 29, in __init__
    self._set_value(value)  # lgtm [py/init-calls-subclass]
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 46, in _set_value
    self._val = self.validate_and_convert(value)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 76, in validate_and_convert
    return self._validate_and_convert_impl(value)
  File "/home/team_omd/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 154, in _validate_and_convert_impl
    raise UnsupportedValueType(
omegaconf.errors.UnsupportedValueType: Value 'Float32DType' is not a supported primitive type
    full_key: env.observation_space.spaces.Obs_joint_pos.dtype
    object_type=dict

Toni-SM Oct 25, 2024
Collaborator

Hi @chandramohanjagadeesan

The issue is due to Hydra/OmegaConf limitations with non-primitive types

A solution is implemented in the Isaac Lab branch: fix/hydra_omegaconf_gymnasium_spaces
Please, switch to it and try it

chandramohanjagadeesan Oct 26, 2024
Author

Hi @Toni-SM

thanks for working on the issue so quick. I tested the code and there are a couple of issues that I had :

Issue if some of the spaces are not defined.
I have not defined the state_space as it was not needed in the old code i had no issue with ti but in the new code i get the following error:

Unsupported space (None)
        File "/media/team_omd/DATA/omniverse/pkg/IsaacLab/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/utils/spaces.py", line 143, in serialize_space
          raise ValueError(f"Unsupported space ({space})")
        File "/media/team_omd/DATA/omniverse/pkg/IsaacLab/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/utils/spaces.py", line 199, in replace_env_cfg_spaces_with_strings
          setattr(env_cfg, attr, serialize_space(getattr(env_cfg, attr)))
        File "/media/team_omd/DATA/omniverse/pkg/IsaacLab/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 46, in register_task_to_hydra
          replace_env_cfg_spaces_with_strings(env_cfg)
        File "/media/team_omd/DATA/omniverse/pkg/IsaacLab/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 79, in wrapper
          env_cfg, agent_cfg = register_task_to_hydra(task_name, agent_cfg_entry_point)
        File "/home/team_omd/Projects/chandra_ma/continual_nbv/NBVPlanning/train.py", line 277, in <module>
          main()
      ValueError: Unsupported space (None) 
      '''

cause :

Even though i have not defined state space in the environment. It gets defined somewhere with none type when the code reaches

def replace_env_cfg_spaces_with_strings(env_cfg: object) -> object:
    """Replace spaces objects with their serialized JSON representations in an environment config.

    Args:
        env_cfg: Environment config instance.

    Returns:
        Environment config instance with spaces replaced if any.
    """
    for attr in ["observation_space", "action_space", "state_space"]:
        if hasattr(env_cfg, attr):
  =======>>> setattr(env_cfg, attr, serialize_space(getattr(env_cfg, attr)))

There is an error.

Issue if the spaces if they are nested:

Since you only look for the attributes named observation_space, action_space and state_space. The code only serializes those variables.
My code looks as follows. I have a space for joint positions and a space for point cloud images which is then inside a spaces.Dict

Code :

min_value = np.array([-2.8973, -1.762799998, -2.8973, -3.0717999, -2.8973, 0.0175, -2.8973], dtype=np.float32)
    max_value = np.array([2.8973, 1.762799998, 2.8973, -0.06980008, 2.8973, 3.75249995, 2.8973], dtype=np.float32)
    
    action_space = spaces.Box(low=np.array([-2.8973, -1.762799998, -2.8973, -3.0717999, -2.8973, 0.0175, -2.8973], dtype=np.float32), high=max_value, dtype=np.float32)

    # Define observation space for the point cloud (1024 points, 256 features per point)
    point_cloud_space = spaces.Box(low=-np.inf, high=np.inf, shape=(1024, 256), dtype=np.float32)

    # Define observation space for joint positions (same as action space, 7 values)
    joint_pos_space = spaces.Box(low=min_value, high=max_value, dtype=np.float32)

    # Combine both into a dictionary observation space
    observation_space = spaces.Dict({
        "Obs_pct" : point_cloud_space,  # Point cloud data
        "Obs_joint_pos": joint_pos_space  # Joint positions
    })

There are errors at two points here

2.1 first where I define the min and max_value for my spaces.
2.2 At point_cloud_space and joint_pos_space if they are defined separate as mention in the above code but I dont have any issue if it is defined in the following way :

No Issue Code :

observation_space = spaces.Dict({
        "Obs_pct" : spaces.Box(low=-np.inf, high=np.inf, shape=(1024, 256), dtype=np.float32),  # Point cloud data
        "Obs_joint_pos": spaces.Box(low=np.array([-2.8973, -1.762799998, -2.8973, -3.0717999, -2.8973, 0.0175, -2.8973], dtype=np.float32), high=np.array([2.8973, 1.762799998, 2.8973, -0.06980008, 2.8973, 3.75249995, 2.8973], dtype=np.float32), dtype=np.float32) # Joint positions
    })

Toni-SM Oct 26, 2024
Collaborator

Hi @chandramohanjagadeesan

For the state_space issues, just define to 0:

IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py

Line 32 in 002fec4

state_space = 0
Due to the hydra/omegaconf limitations, defining gymnasium spaces using other variables is not supported... the solution is the one you did in 2.2, define the composite space in a single go.

If, for some reason, you need to define other spaces you can define them directly in the task (since it is not affected by hydra/omegaconf)

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[Question How to set bounds to my action and observation spaces and also change its type? #1264

chandramohanjagadeesan Oct 17, 2024

Replies: 2 comments · 6 replies

Toni-SM Oct 17, 2024 Collaborator

chandramohanjagadeesan Oct 24, 2024 Author

chandramohanjagadeesan Oct 24, 2024 Author

chandramohanjagadeesan Oct 25, 2024 Author

Toni-SM Oct 25, 2024 Collaborator

chandramohanjagadeesan Oct 26, 2024 Author

cause :

Code :

No Issue Code :

Toni-SM Oct 26, 2024 Collaborator

chandramohanjagadeesan
Oct 17, 2024

Replies: 2 comments 6 replies

Toni-SM
Oct 17, 2024
Collaborator

chandramohanjagadeesan
Oct 24, 2024
Author

chandramohanjagadeesan Oct 24, 2024
Author

chandramohanjagadeesan Oct 25, 2024
Author

Toni-SM Oct 25, 2024
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chandramohanjagadeesan Oct 26, 2024
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Toni-SM Oct 26, 2024
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