Add a task discovery API for backend combinations

.github/workflows/tools-tests.yml

@@ -51,9 +51,13 @@ jobs:
           # The tests import the modules under test (crash_journal, _device_split) directly.
           PYTHONPATH: tools
         # Files are listed explicitly rather than collected from tools/: test_settings.py is a
-        # configuration module, not a test, and tools/test/ needs the full Isaac Lab install.
+        # configuration module, not a test, and most of tools/test/ needs the full Isaac Lab
+        # install. test_task_discovery.py is the exception - task_discovery.py defers every
+        # isaaclab import into a function body, so its unit tests run on pytest alone.
         #
         # --noconftest keeps tools/conftest.py out of the session. That file is the CI test
         # orchestrator - its pytest_sessionstart scans source/ and scripts/ and runs the whole
         # suite, so loading it here would ignore the files named below.
-        run: python3 -m pytest tools/test_crash_journal.py tools/test_device_split.py -v --noconftest
+        run: >-
+          python3 -m pytest tools/test_crash_journal.py tools/test_device_split.py
+          tools/test/test_task_discovery.py -v --noconftest

tools/environ_docs.py

@@ -23,7 +23,9 @@
 
 import gymnasium as gym
 
-from isaaclab_tasks.utils.preset_cli import enumerate_task_presets
+# ``is_training_task`` is re-exported for callers that import it from here.
+from task_discovery import RL_LIBRARY_PRIORITY, discover_tasks, is_training_task  # noqa: F401
+
 from isaaclab_tasks.utils.preset_target import PresetTarget
 
 if TYPE_CHECKING:
@@ -48,13 +50,9 @@
     }
 )
 
-# RL libraries listed in a stable order across generated docs.
-_RL_LIBRARY_ORDER = ("rl_games", "rsl_rl", "skrl", "sb3", "rlinf")
-
-# Gym IDs excluded from the training list. The ``-Eval`` suffix marks dedicated
-# evaluation variants (e.g. ``IsaacContrib-Assemble-Trocar-G129-Dex3-Eval``, an alias
-# registered for RLinf eval configs) that should not appear as their own training row.
-_EVAL_TASK_SUFFIXES = ("-Eval",)
+# RL libraries listed in a stable order across generated docs. Owned by
+# ``task_discovery`` so the tables and the task matrix cannot drift apart.
+_RL_LIBRARY_ORDER = RL_LIBRARY_PRIORITY
 
 # RL libraries not discoverable from Gym ``kwargs`` (e.g. RLinf YAML-based workflows).
 RL_LIBRARY_OVERRIDES: dict[str, dict[str, list[str]]] = {
@@ -117,17 +115,6 @@ def _supports_warp_frontend(task_name: str, workflow: str, presets: dict[PresetT
         return False
 
 
-def is_training_task(task_id: str) -> bool:
-    """Return ``True`` when *task_id* is a training (non-inference) Isaac task."""
-    if "Isaac" not in task_id:
-        return False
-    if any(task_id.endswith(suffix) for suffix in _EVAL_TASK_SUFFIXES):
-        return False
-    if "-Benchmark-" in task_id:
-        return False
-    return True
-
-
 def parse_rl_libraries_from_kwargs(kwargs: dict) -> dict[str, list[str]]:
     """Parse RL-library and algorithm labels from Gym registry kwargs.
 
@@ -527,13 +514,17 @@ def collect_environment_doc_rows(
 
     rows: list[EnvironmentDocRow] = []
 
-    for spec in specs:
-        if not is_training_task(spec.id) or spec.kwargs.get("deprecated"):
-            continue
-
-        preset_map = enumerate_task_presets(spec.id)
-        if preset_map is not None:
-            preset_map = dict(preset_map)
+    specs_by_id = {spec.id: spec for spec in specs}
+    for task in discover_tasks(specs, resolve=False):
+        spec = specs_by_id[task.task_id]
+
+        preset_map = None
+        if task.declared is not None:
+            preset_map = {
+                PresetTarget.PHYSICS: list(task.declared["physics"]),
+                PresetTarget.RENDERER: list(task.declared["renderer"]),
+                PresetTarget.DOMAIN: list(task.declared["presets"]),
+            }
             preset_map[PresetTarget.PHYSICS] = _physics_names_for_docs(spec.id, preset_map)
         agents = apply_rl_library_overrides(spec.id, parse_rl_libraries_from_kwargs(spec.kwargs))