File size: 1,861 Bytes
0037d53 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 | # Copyright (c) 2024-2025, The UW Lab Project Developers. (https://github.com/uw-lab/UWLab/blob/main/CONTRIBUTORS.md).
# All Rights Reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
Script to print all the available environments in Isaac Lab.
The script iterates over all registered environments and stores the details in a table.
It prints the name of the environment, the entry point and the config file.
All the environments are registered in the `isaaclab_tasks` extension. They start
with `Isaac` in their name.
"""
"""Launch Isaac Sim Simulator first."""
from isaaclab.app import AppLauncher
# launch omniverse app
app_launcher = AppLauncher(headless=True)
simulation_app = app_launcher.app
"""Rest everything follows."""
import gymnasium as gym
from prettytable import PrettyTable
import isaaclab_tasks # noqa: F401
import uwlab_tasks # noqa: F401
def main():
"""Print all environments registered in `isaaclab_tasks` extension."""
# print all the available environments
table = PrettyTable(["S. No.", "Task Name", "Entry Point", "Config"])
table.title = "Available Environments in Isaac Lab"
# set alignment of table columns
table.align["Task Name"] = "l"
table.align["Entry Point"] = "l"
table.align["Config"] = "l"
# count of environments
index = 0
# acquire all Isaac environments names
for task_spec in gym.registry.values():
if "Isaac" in task_spec.id:
# add details to table
table.add_row([index + 1, task_spec.id, task_spec.entry_point, task_spec.kwargs["env_cfg_entry_point"]])
# increment count
index += 1
print(table)
if __name__ == "__main__":
try:
# run the main function
main()
except Exception as e:
raise e
finally:
# close the app
simulation_app.close()
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