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d6b3397 | 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 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/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."""
import argparse
import contextlib
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="List Isaac Lab environments.")
parser.add_argument("--keyword", type=str, default=None, help="Keyword to filter environments.")
parser.add_argument(
"--show_presets",
action="store_true",
default=False,
help=(
"Show available preset selectors for each environment. "
"Presets are grouped by selector type: physics (physics=NAME), "
"renderer (renderer=NAME), and domain (presets=NAME)."
),
)
# parse the arguments
args_cli = parser.parse_args()
# 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
# PLACEHOLDER: Extension template (do not remove this comment)
with contextlib.suppress(ImportError):
import isaaclab_tasks_experimental # noqa: F401
def _format_presets(preset_map: dict | None) -> str:
"""Format a preset map returned by :func:`enumerate_task_presets` into a human-readable string.
Args:
preset_map: Mapping of :class:`~isaaclab_tasks.utils.preset_target.PresetTarget`
to sorted preset name lists, or ``None`` when the env cfg could not be loaded.
Returns:
A multi-line string with one line per non-empty selector category, or a
short placeholder when no presets are available or the cfg failed to load.
"""
if preset_map is None:
return "(unavailable)"
from isaaclab_tasks.utils.preset_target import PresetTarget
lines = []
labels = {
PresetTarget.PHYSICS: "physics",
PresetTarget.RENDERER: "renderer",
PresetTarget.DOMAIN: "domain",
}
for target, label in labels.items():
names = preset_map.get(target, [])
if names:
lines.append(f"{label}: {', '.join(names)}")
return "\n".join(lines) if lines else "(none)"
def main():
"""Print all environments registered in `isaaclab_tasks` extension."""
# Collect matching task specs first so we can enumerate presets in one pass.
task_specs = [
spec
for spec in gym.registry.values()
if "Isaac" in spec.id and (args_cli.keyword is None or args_cli.keyword in spec.id)
]
if args_cli.show_presets:
from isaaclab_tasks.utils.preset_cli import enumerate_task_presets
table = PrettyTable(["S. No.", "Task Name", "Entry Point", "Config", "Presets"])
table.title = "Available Environments in Isaac Lab"
table.align["Task Name"] = "l"
table.align["Entry Point"] = "l"
table.align["Config"] = "l"
table.align["Presets"] = "l"
for index, spec in enumerate(task_specs):
preset_map = enumerate_task_presets(spec.id)
table.add_row(
[
index + 1,
spec.id,
spec.entry_point,
spec.kwargs["env_cfg_entry_point"],
_format_presets(preset_map),
]
)
else:
table = PrettyTable(["S. No.", "Task Name", "Entry Point", "Config"])
table.title = "Available Environments in Isaac Lab"
table.align["Task Name"] = "l"
table.align["Entry Point"] = "l"
table.align["Config"] = "l"
for index, spec in enumerate(task_specs):
table.add_row([index + 1, spec.id, spec.entry_point, spec.kwargs["env_cfg_entry_point"]])
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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