Moves IO descriptor log dir to logs (#3434)

# Description

Since we recently added logdir into the environment cfg, we can also
move the IO description directory to be a subfolder under logdir.

## Type of change

- Breaking change (existing functionality will not work without user
modification)

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

scripts/reinforcement_learning/rl_games/train.py

@@ -156,10 +156,9 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
     obs_groups = agent_cfg["params"]["env"].get("obs_groups")
     concate_obs_groups = agent_cfg["params"]["env"].get("concate_obs_groups", True)
 
-    # set the IO descriptors output directory if requested
+    # set the IO descriptors export flag if requested
     if isinstance(env_cfg, ManagerBasedRLEnvCfg):
         env_cfg.export_io_descriptors = args_cli.export_io_descriptors
-        env_cfg.io_descriptors_output_dir = os.path.join(log_root_path, log_dir)
     else:
         omni.log.warn(
             "IO descriptors are only supported for manager based RL environments. No IO descriptors will be exported."

scripts/reinforcement_learning/rsl_rl/train.py

@@ -141,10 +141,9 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
         log_dir += f"_{agent_cfg.run_name}"
     log_dir = os.path.join(log_root_path, log_dir)
 
-    # set the IO descriptors output directory if requested
+    # set the IO descriptors export flag if requested
     if isinstance(env_cfg, ManagerBasedRLEnvCfg):
         env_cfg.export_io_descriptors = args_cli.export_io_descriptors
-        env_cfg.io_descriptors_output_dir = log_dir
     else:
         omni.log.warn(
             "IO descriptors are only supported for manager based RL environments. No IO descriptors will be exported."

scripts/reinforcement_learning/sb3/train.py

@@ -143,10 +143,9 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
     policy_arch = agent_cfg.pop("policy")
     n_timesteps = agent_cfg.pop("n_timesteps")
 
-    # set the IO descriptors output directory if requested
+    # set the IO descriptors export flag if requested
     if isinstance(env_cfg, ManagerBasedRLEnvCfg):
         env_cfg.export_io_descriptors = args_cli.export_io_descriptors
-        env_cfg.io_descriptors_output_dir = log_dir
     else:
         omni.log.warn(
             "IO descriptors are only supported for manager based RL environments. No IO descriptors will be exported."

scripts/reinforcement_learning/skrl/train.py

@@ -173,10 +173,9 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
     # get checkpoint path (to resume training)
     resume_path = retrieve_file_path(args_cli.checkpoint) if args_cli.checkpoint else None
 
-    # set the IO descriptors output directory if requested
+    # set the IO descriptors export flag if requested
     if isinstance(env_cfg, ManagerBasedRLEnvCfg):
         env_cfg.export_io_descriptors = args_cli.export_io_descriptors
-        env_cfg.io_descriptors_output_dir = os.path.join(log_root_path, log_dir)
     else:
         omni.log.warn(
             "IO descriptors are only supported for manager based RL environments. No IO descriptors will be exported."

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.46.0"
+version = "0.46.1"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.46.1 (2025-09-10)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Moved IO descriptors output directory to a subfolder under the task log directory.
+
+
 0.46.0 (2025-09-06)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -250,12 +250,13 @@ class ManagerBasedEnv:
         IO_descriptors = self.get_IO_descriptors
 
         if output_dir is None:
-            output_dir = self.cfg.io_descriptors_output_dir
-        if output_dir is None:
-            raise ValueError(
-                "Output directory is not set. Please set the output directory using the `io_descriptors_output_dir`"
-                " configuration."
-            )
+            if self.cfg.log_dir is not None:
+                output_dir = os.path.join(self.cfg.log_dir, "io_descriptors")
+            else:
+                raise ValueError(
+                    "Output directory is not set. Please set the log directory using the `log_dir`"
+                    " configuration or provide an explicit output_dir parameter."
+                )
 
         if not os.path.exists(output_dir):
             os.makedirs(output_dir, exist_ok=True)

source/isaaclab/isaaclab/envs/manager_based_env_cfg.py

@@ -129,8 +129,5 @@ class ManagerBasedEnvCfg:
     export_io_descriptors: bool = False
     """Whether to export the IO descriptors for the environment. Defaults to False."""
 
-    io_descriptors_output_dir: str | None = None
-    """The directory to export the IO descriptors to. Defaults to None."""
-
     log_dir: str | None = None
     """Directory for logging experiment artifacts. Defaults to None, in which case no specific log directory is set."""