Initial commit

2026-09-10 10:51:21 +08:00
commit 35621dde47
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+# 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 `dex_workbench` 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 dex_workbench.tasks  # noqa: F401
+
+# PLACEHOLDER: Extension template (do not remove this comment)
+with contextlib.suppress(ImportError):
+    import dex_workbench.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:`~dex_workbench.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 dex_workbench.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 `dex_workbench` extension."""
+    # Collect matching task specs first so we can enumerate presets in one pass.
+    task_specs = [
+        spec
+        for spec in gym.registry.values()
+        if "Template-" in spec.id and (args_cli.keyword is None or args_cli.keyword in spec.id)
+    ]
+
+    if args_cli.show_presets:
+        from dex_workbench.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()