remove post init diff

Author: kellyguo11

source/isaaclab/docs/CHANGELOG.rst

@@ -14,19 +14,16 @@ Added
   a ``FutureWarning`` because this path is temporary until neutral USD materials
   replace OmniPBR in content.
 * Added ``test_newton_model_utils`` tests for the Newton shape color pass.
-* Added :meth:`~isaaclab.utils.configclass.post_init_diff` method to all
-  ``@configclass`` instances, returning a dict of scalar fields changed by
-  ``__post_init__``.  Helps users discover silent config overrides.
 * Added debug-level logging of the ``__post_init__`` call chain in
   ``@configclass`` so that ``ISAACLAB_LOG_LEVEL=DEBUG`` reveals which classes
   modify fields during initialization.
-* Added automatic dump of the fully-resolved env config to
-  ``<log_dir>/params/resolved_env.yaml`` from
-  :class:`~isaaclab.envs.ManagerBasedEnv`,
+* Added :func:`~isaaclab.utils.io.dump_resolved_cfg` standalone utility for
+  writing ``<log_dir>/params/resolved_env.yaml``.  All env base classes
+  (:class:`~isaaclab.envs.ManagerBasedEnv`,
   :class:`~isaaclab.envs.DirectRLEnv`, and
-  :class:`~isaaclab.envs.DirectMARLEnv` at the end of ``__init__``.  This
-  gives users a single source of truth for the values the environment actually
-  uses.
+  :class:`~isaaclab.envs.DirectMARLEnv`) now call this at the end of
+  ``__init__``, giving users a single source of truth for the values the
+  environment actually uses.
 
 Changed
 ^^^^^^^

source/isaaclab/isaaclab/envs/direct_marl_env.py

@@ -28,7 +28,7 @@
 from isaaclab.sim import SimulationContext
 from isaaclab.sim.utils.stage import use_stage
 from isaaclab.utils.configclass import resolve_cfg_presets
-from isaaclab.utils.io import dump_yaml
+from isaaclab.utils.io import dump_resolved_cfg
 from isaaclab.utils.noise import NoiseModel
 from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer
@@ -250,9 +250,7 @@ def _init_sim(self, render_mode: str | None = None, **kwargs):
                 self.event_manager.apply(mode="startup")
         self.has_rtx_sensors = self.sim.get_setting("/isaaclab/render/rtx_sensors")
 
-        # dump the fully-resolved env config so users have a single source of
-        # truth for what values the environment is actually using
-        self._dump_resolved_cfg()
+        dump_resolved_cfg(self.cfg, getattr(self.cfg, "log_dir", None), logger)
 
         # print the environment information
         print("[INFO]: Completed setting up the environment...")
@@ -610,24 +608,6 @@ def set_debug_vis(self, debug_vis: bool) -> bool:
     Helper functions.
     """
 
-    def _dump_resolved_cfg(self):
-        """Dump the fully-resolved env config to ``<log_dir>/params/resolved_env.yaml``.
-
-        This runs after all ``__post_init__`` hooks, preset resolution, and
-        any training-script mutations, giving users a single source of truth
-        for the values the environment actually uses.
-        """
-        import os
-
-        if self.cfg.log_dir is None:
-            return
-        resolved_path = os.path.join(self.cfg.log_dir, "params", "resolved_env.yaml")
-        try:
-            dump_yaml(resolved_path, self.cfg)
-            logger.info("Resolved env config written to %s", resolved_path)
-        except Exception:
-            logger.warning("Failed to dump resolved env config to %s", resolved_path, exc_info=True)
-
     def _configure_env_spaces(self):
         """Configure the spaces for the environment."""
         self.agents = self.cfg.possible_agents

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -24,7 +24,7 @@
 from isaaclab.sim import SimulationContext
 from isaaclab.sim.utils.stage import use_stage
 from isaaclab.utils.configclass import resolve_cfg_presets
-from isaaclab.utils.io import dump_yaml
+from isaaclab.utils.io import dump_resolved_cfg
 from isaaclab.utils.noise import NoiseModel
 from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer
@@ -271,9 +271,7 @@ def _init_sim(self, render_mode: str | None = None, **kwargs):
             if self.cfg.num_rerenders_on_reset == 0:
                 self.cfg.num_rerenders_on_reset = 1
 
-        # dump the fully-resolved env config so users have a single source of
-        # truth for what values the environment is actually using
-        self._dump_resolved_cfg()
+        dump_resolved_cfg(self.cfg, getattr(self.cfg, "log_dir", None), logger)
 
         # print the environment information
         print("[INFO]: Completed setting up the environment...")
@@ -578,24 +576,6 @@ def set_debug_vis(self, debug_vis: bool) -> bool:
     Helper functions.
     """
 
-    def _dump_resolved_cfg(self):
-        """Dump the fully-resolved env config to ``<log_dir>/params/resolved_env.yaml``.
-
-        This runs after all ``__post_init__`` hooks, preset resolution, and
-        any training-script mutations, giving users a single source of truth
-        for the values the environment actually uses.
-        """
-        import os
-
-        if self.cfg.log_dir is None:
-            return
-        resolved_path = os.path.join(self.cfg.log_dir, "params", "resolved_env.yaml")
-        try:
-            dump_yaml(resolved_path, self.cfg)
-            logger.info("Resolved env config written to %s", resolved_path)
-        except Exception:
-            logger.warning("Failed to dump resolved env config to %s", resolved_path, exc_info=True)
-
     def _configure_gym_env_spaces(self):
         """Configure the action and observation spaces for the Gym environment."""
         # show deprecation message and overwrite configuration

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -19,7 +19,7 @@
 from isaaclab.sim.utils.stage import use_stage
 from isaaclab.ui.widgets import ManagerLiveVisualizer
 from isaaclab.utils.configclass import resolve_cfg_presets
-from isaaclab.utils.io import dump_yaml
+from isaaclab.utils.io import dump_resolved_cfg
 from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer
 
@@ -242,9 +242,7 @@ def _init_sim(self):
             if self.cfg.num_rerenders_on_reset == 0:
                 self.cfg.num_rerenders_on_reset = 1
 
-        # dump the fully-resolved env config so users have a single source of
-        # truth for what values the environment is actually using
-        self._dump_resolved_cfg()
+        dump_resolved_cfg(self.cfg, getattr(self.cfg, "log_dir", None), logger)
 
     def __del__(self):
         """Cleanup for the environment."""
@@ -588,24 +586,6 @@ def close(self):
     Helper functions.
     """
 
-    def _dump_resolved_cfg(self):
-        """Dump the fully-resolved env config to ``<log_dir>/params/resolved_env.yaml``.
-
-        This runs after all ``__post_init__`` hooks, preset resolution, and
-        any training-script mutations, giving users a single source of truth
-        for the values the environment actually uses.
-        """
-        import os
-
-        if self.cfg.log_dir is None:
-            return
-        resolved_path = os.path.join(self.cfg.log_dir, "params", "resolved_env.yaml")
-        try:
-            dump_yaml(resolved_path, self.cfg)
-            logger.info("Resolved env config written to %s", resolved_path)
-        except Exception:
-            logger.warning("Failed to dump resolved env config to %s", resolved_path, exc_info=True)
-
     def _reset_idx(self, env_ids: Sequence[int]):
         """Reset environments based on specified indices.
 

source/isaaclab/isaaclab/utils/configclass.py

@@ -22,7 +22,7 @@
 _CALLABLE_STR_RE = re.compile(r"^[A-Za-z_][A-Za-z0-9_\\.]*:[A-Za-z_][A-Za-z0-9_]*$")
 _CALLABLE_STR_WITH_DIR_RE = re.compile(r"^\{DIR\}(?:\.[A-Za-z_][A-Za-z0-9_]*)*:[A-Za-z_][A-Za-z0-9_]*$")
 
-_CONFIGCLASS_METHODS = ["to_dict", "from_dict", "replace", "copy", "validate", "post_init_diff"]
+_CONFIGCLASS_METHODS = ["to_dict", "from_dict", "replace", "copy", "validate"]
 """List of class methods added at runtime to dataclass."""
 
 """
@@ -113,7 +113,6 @@ class EnvCfg:
     setattr(cls, "replace", _replace_class_with_kwargs)
     setattr(cls, "copy", _copy_class)
     setattr(cls, "validate", _validate)
-    setattr(cls, "post_init_diff", _post_init_diff)
     # wrap around dataclass
     cls = dataclass(cls, **kwargs)
     # return wrapped class
@@ -498,30 +497,20 @@ def _custom_post_init(obj):
 
 
 def _combined_function(f1: Callable, f2: Callable) -> Callable:
-    """Combine a user ``__post_init__`` with the configclass deep-copy hook.
-
-    Before *f1* (the user hook) runs, a shallow snapshot of every scalar/tuple
-    field is taken.  After both hooks finish, the snapshot is stored on the
-    object so that :meth:`post_init_diff` can report which fields were silently
-    changed by ``__post_init__``.
+    """Combine two functions into one by calling them sequentially.
 
     Args:
-        f1: The user-defined ``__post_init__``.
-        f2: The configclass ``_custom_post_init`` (deep-copy + ResolvableString wrapping).
+        f1: The first function to call (user-defined ``__post_init__``).
+        f2: The second function to call (configclass ``_custom_post_init``).
 
     Returns:
         The combined function.
     """
 
     def _combined(*args, **kwargs):
-        obj = args[0]
-        # Snapshot scalar / tuple field values before the user hook runs.
-        before = _snapshot_fields(obj)
-        _logger.debug("Running __post_init__ for %s", type(obj).__name__)
+        _logger.debug("Running __post_init__ for %s", type(args[0]).__name__)
         f1(*args, **kwargs)
         f2(*args, **kwargs)
-        after = _snapshot_fields(obj)
-        obj.__post_init_field_diff__ = _compute_field_diff(before, after)
 
     return _combined
 
@@ -607,53 +596,6 @@ def _wrap():
     return _wrap
 
 
-"""
-Post-init diff helpers.
-"""
-
-
-def _snapshot_fields(obj: object, prefix: str = "") -> dict[str, Any]:
-    """Capture a flat ``{dotted.path: value}`` snapshot of scalar and tuple fields.
-
-    Nested configclass objects are walked recursively so that changes at any
-    depth are captured.
-    """
-    snap: dict[str, Any] = {}
-    for key in list(getattr(obj, "__dataclass_fields__", {})):
-        value = getattr(obj, key, MISSING)
-        if value is MISSING:
-            continue
-        full_key = f"{prefix}{key}"
-        if hasattr(value, "__dataclass_fields__"):
-            snap.update(_snapshot_fields(value, prefix=f"{full_key}."))
-        elif isinstance(value, (int, float, bool, str, type(None), tuple)):
-            snap[full_key] = value
-    return snap
-
-
-def _compute_field_diff(before: dict[str, Any], after: dict[str, Any]) -> dict[str, tuple[Any, Any]]:
-    """Return ``{field: (old_value, new_value)}`` for fields that changed."""
-    diff: dict[str, tuple[Any, Any]] = {}
-    for key in before:
-        if key in after and before[key] != after[key]:
-            diff[key] = (before[key], after[key])
-    return diff
-
-
-def _post_init_diff(obj: object) -> dict[str, tuple[Any, Any]]:
-    """Return fields changed by ``__post_init__`` as ``{field: (before, after)}``.
-
-    Only scalar and tuple fields are tracked (mutable containers like lists and
-    dicts are excluded because their identity changes during deep-copy).
-
-    Returns:
-        A dictionary mapping dotted field paths to ``(old_value, new_value)``
-        tuples.  Empty when no ``__post_init__`` was defined or no scalar
-        fields were modified.
-    """
-    return getattr(obj, "__post_init_field_diff__", {})
-
-
 def resolve_cfg_presets(cfg: object) -> object:
     """Recursively replace preset-wrapper fields with their *default* preset.
 

source/isaaclab/isaaclab/utils/io/yaml.py

@@ -5,6 +5,7 @@
 
 """Utilities for file I/O with yaml."""
 
+import logging
 import os
 
 import yaml
@@ -54,3 +55,30 @@ def dump_yaml(filename: str, data: dict | object, sort_keys: bool = False):
     # save data
     with open(filename, "w") as f:
         yaml.dump(data, f, default_flow_style=False, sort_keys=sort_keys)
+
+
+def dump_resolved_cfg(cfg: object, log_dir: str | None, logger: logging.Logger | None = None):
+    """Dump a fully-resolved config to ``<log_dir>/params/resolved_env.yaml``.
+
+    This is intended to be called at the end of environment ``__init__``
+    after all ``__post_init__`` hooks, preset resolution, and training-script
+    mutations have been applied, giving users a single source of truth for the
+    values the environment actually uses.
+
+    Args:
+        cfg: The config object to serialize (typically ``self.cfg``).
+        log_dir: The logging directory. When ``None``, the dump is silently
+            skipped.
+        logger: Optional logger for status messages. When ``None``, messages
+            are suppressed.
+    """
+    if log_dir is None:
+        return
+    resolved_path = os.path.join(log_dir, "params", "resolved_env.yaml")
+    try:
+        dump_yaml(resolved_path, cfg)
+        if logger is not None:
+            logger.info("Resolved env config written to %s", resolved_path)
+    except Exception:
+        if logger is not None:
+            logger.warning("Failed to dump resolved env config to %s", resolved_path, exc_info=True)

source/isaaclab_experimental/docs/CHANGELOG.rst

@@ -11,7 +11,8 @@ Added
   ``<log_dir>/params/resolved_env.yaml`` from
   :class:`~isaaclab_experimental.envs.ManagerBasedEnvWarp` and
   :class:`~isaaclab_experimental.envs.DirectRLEnvWarp` at the end of
-  ``__init__``, matching the stable env base classes.
+  ``__init__`` via the shared :func:`~isaaclab.utils.io.dump_resolved_cfg`
+  utility, matching the stable env base classes.
 
 
 0.0.2 (2026-03-16)

source/isaaclab_experimental/isaaclab_experimental/envs/direct_rl_env_warp.py

@@ -33,7 +33,7 @@
 from isaaclab.managers import EventManager
 from isaaclab.sim import SimulationContext
 from isaaclab.sim.utils import use_stage
-from isaaclab.utils.io import dump_yaml
+from isaaclab.utils.io import dump_resolved_cfg
 from isaaclab.utils.noise import NoiseModel
 from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer
@@ -271,9 +271,7 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
         # video matches the simulation
         self.metadata["render_fps"] = 1 / self.step_dt
 
-        # dump the fully-resolved env config so users have a single source of
-        # truth for what values the environment is actually using
-        self._dump_resolved_cfg()
+        dump_resolved_cfg(self.cfg, getattr(self.cfg, "log_dir", None), logger)
 
         # print the environment information
         print("[INFO]: Completed setting up the environment...")
@@ -685,22 +683,6 @@ def set_debug_vis(self, debug_vis: bool) -> bool:
     Helper functions.
     """
 
-    def _dump_resolved_cfg(self):
-        """Dump the fully-resolved env config to ``<log_dir>/params/resolved_env.yaml``.
-
-        This runs after all ``__post_init__`` hooks, preset resolution, and
-        any training-script mutations, giving users a single source of truth
-        for the values the environment actually uses.
-        """
-        if self.cfg.log_dir is None:
-            return
-        resolved_path = os.path.join(self.cfg.log_dir, "params", "resolved_env.yaml")
-        try:
-            dump_yaml(resolved_path, self.cfg)
-            logger.info("Resolved env config written to %s", resolved_path)
-        except Exception:
-            logger.warning("Failed to dump resolved env config to %s", resolved_path, exc_info=True)
-
     def _configure_gym_env_spaces(self):
         """Configure the action and observation spaces for the Gym environment."""
         # show deprecation message and overwrite configuration