initial commit

scripts/list_envs.py

@@ -0,0 +1,64 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# 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 `FLEXR_v0` 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 FLEXR_v0.tasks  # noqa: F401
+
+
+def main():
+    """Print all environments registered in `FLEXR_v0` 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 "Template-" 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()