File size: 2,173 Bytes
406662d | 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 | # 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
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.")
# 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
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 and (args_cli.keyword is None or args_cli.keyword 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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