| |
| """List all Gym environments registered under ``atec_rl_lab.tasks`` without importing Isaac Sim/Kit. |
| |
| This script avoids `import atec_rl_lab.tasks` because that may import IsaacLab/Omniverse modules (e.g., `carb`) |
| in a pure Python environment. Instead, it scans task modules and executes only `gym.register(...)` statements. |
| """ |
|
|
| from __future__ import annotations |
|
|
| import ast |
| import sys |
| from pathlib import Path |
|
|
| import gymnasium as gym |
| from prettytable import PrettyTable |
|
|
|
|
| def _project_root() -> Path: |
| return Path(__file__).resolve().parents[1] |
|
|
|
|
| def _find_python_files(pkg_dir: Path) -> list[Path]: |
| return [ |
| p for p in pkg_dir.rglob("*.py") |
| if p.name != "__pycache__" |
| ] |
|
|
|
|
| def _exec_only_gym_register(py_file: Path) -> bool: |
| """Parse a python file and execute only top-level `gym.register(...)` calls. |
| |
| Returns True if at least one register call was executed. |
| """ |
| src = py_file.read_text(encoding="utf-8") |
| tree = ast.parse(src, filename=str(py_file)) |
|
|
| register_calls: list[ast.stmt] = [] |
| for node in tree.body: |
|
|
| if isinstance(node, (ast.Import, ast.ImportFrom)): |
| names = [] |
| if isinstance(node, ast.Import): |
| names = [n.name for n in node.names] |
| else: |
| mod = node.module or "" |
| names = [mod] |
| if any("gym" in n for n in names): |
| register_calls.append(node) |
| elif isinstance(node, ast.Expr) and isinstance(node.value, ast.Call): |
| call = node.value |
| |
| if isinstance(call.func, ast.Attribute) and call.func.attr == "register": |
| if isinstance(call.func.value, ast.Name) and call.func.value.id == "gym": |
| register_calls.append(node) |
|
|
| if not register_calls: |
| return False |
|
|
| mod = ast.Module(body=register_calls, type_ignores=[]) |
| code = compile(mod, filename=str(py_file), mode="exec") |
|
|
| |
| ns: dict = {"gym": gym} |
| try: |
| exec(code, ns, ns) |
| return True |
| except Exception as e: |
| print(f"[WARN] Failed executing gym.register in {py_file}: {e}", file=sys.stderr) |
| return False |
|
|
|
|
| def discover_tasks_without_import() -> int: |
| root = _project_root() |
| pkg_dir = root / "source" / "atec_rl_lab" / "atec_rl_lab" / "tasks" |
| if not pkg_dir.exists(): |
| pkg_dir = root / "atec_rl_lab" / "tasks" |
|
|
| if not pkg_dir.exists(): |
| raise FileNotFoundError(f"Cannot find tasks package dir under: {root}") |
|
|
| count = 0 |
| for py in _find_python_files(pkg_dir): |
| if py.name in {"env_cfg.py", "scene_cfg.py", "envs_base_cfg.py"}: |
| continue |
| if _exec_only_gym_register(py): |
| count += 1 |
| return count |
|
|
|
|
| def main() -> None: |
| executed_files = discover_tasks_without_import() |
|
|
| table = PrettyTable(["S. No.", "Task Name", "Entry Point"]) |
| table.title = f"Available Environments in ATEC RL Lab (scanned {executed_files} files)" |
| table.align["Task Name"] = "l" |
| table.align["Entry Point"] = "l" |
|
|
| index = 0 |
| for task_spec in gym.registry.values(): |
| if "ATEC" in task_spec.id and "Isaac" not in task_spec.id: |
| table.add_row([index + 1, task_spec.id, str(task_spec.entry_point)]) |
| index += 1 |
|
|
| print(table) |
|
|
|
|
| if __name__ == "__main__": |
| try: |
| main() |
| except ModuleNotFoundError as exc: |
| print(f"Failed to import dependencies while discovering tasks: {exc}") |
| raise |
|
|
