@@ -135,7 +145,6 @@ Available Tasks
-
diff --git a/tools/environ_docs.py b/tools/environ_docs.py
index 69403e9916d2..c3f9edd9a038 100644
--- a/tools/environ_docs.py
+++ b/tools/environ_docs.py
@@ -92,6 +92,30 @@ class EnvironmentDocRow:
rl_libraries: dict[str, list[str]]
presets: dict[PresetTarget, list[str]] | None
agent_preset_compatibility: dict[str, tuple[str, ...]] = field(default_factory=dict)
+ supports_warp_frontend: bool = False
+
+
+def _supports_warp_frontend(task_name: str, workflow: str, presets: dict[PresetTarget, list[str]] | None) -> bool:
+ """Return whether a task can run through ``--frontend warp``."""
+ if presets is None or "newton_mjwarp" not in presets.get(PresetTarget.PHYSICS, []):
+ return False
+
+ try:
+ from isaaclab_experimental.envs.frontend import FrontendIncompatibleError, WarpFrontend
+
+ from isaaclab_tasks.utils.hydra import resolve_presets
+ from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
+
+ cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
+ cfg = resolve_presets(cfg, selected=("newton_mjwarp",))
+ if workflow == "Direct":
+ try:
+ return WarpFrontend._resolve_direct_warp_class(task_name, cfg) is not None
+ except FrontendIncompatibleError:
+ return False
+ return WarpFrontend.check_compatibility(cfg) is None
+ except (ImportError, gym.error.Error):
+ return False
def is_training_task(task_id: str) -> bool:
@@ -526,6 +550,7 @@ def collect_environment_doc_rows(
for agent, presets in spec.kwargs.get("agent_preset_compatibility", {}).items()
if agent in spec.kwargs
},
+ supports_warp_frontend=_supports_warp_frontend(spec.id, workflow, preset_map),
)
)
@@ -632,6 +657,12 @@ def render_environment_browser_task_rows(
rendered_values += f", {json.dumps(row.agent_preset_compatibility, sort_keys=True)}"
if preview_image:
rendered_values += f", {json.dumps(preview_image)}"
+ if row.supports_warp_frontend:
+ if not row.agent_preset_compatibility and not preview_image:
+ rendered_values += ", {}"
+ if not preview_image:
+ rendered_values += ', ""'
+ rendered_values += ", true"
lines.append(f" [{rendered_values}],")
lines.append(" ];")
return "\n".join(lines)
diff --git a/tools/test/test_environ_docs.py b/tools/test/test_environ_docs.py
index cd3b7e846e51..df41aec9a860 100644
--- a/tools/test/test_environ_docs.py
+++ b/tools/test/test_environ_docs.py
@@ -382,6 +382,7 @@ def test_environment_browser_rows_include_concrete_core_and_contributed_selector
"rsl_rl_cfg_entry_point": ("rgb",),
"rsl_rl_feature_cfg_entry_point": ("resnet18", "theia_tiny"),
},
+ supports_warp_frontend=True,
),
EnvironmentDocRow(
task_name="IsaacContrib-Cartpole",
@@ -391,7 +392,13 @@ def test_environment_browser_rows_include_concrete_core_and_contributed_selector
),
]
rows.reverse()
- rendered = render_environment_browser_task_rows(rows, {"IsaacContrib-Cartpole": "tasks/classic/cartpole.jpg"})
+ rendered = render_environment_browser_task_rows(
+ rows,
+ {
+ "Isaac-Cartpole": "tasks/classic/cartpole.jpg",
+ "IsaacContrib-Cartpole": "tasks/classic/cartpole.jpg",
+ },
+ )
original = (
f" {ENVIRONMENT_BROWSER_TASKS_START_MARKER}\n"
" const taskRows = [];\n"
@@ -410,6 +417,7 @@ def test_environment_browser_rows_include_concrete_core_and_contributed_selector
assert '"IsaacContrib-Cartpole"' in updated
assert '"ovphysx"' in updated
assert '"tasks/classic/cartpole.jpg"' in updated
+ assert '"tasks/classic/cartpole.jpg", true' in updated
assert updated.index('"Isaac-Cartpole"') < updated.index('"IsaacContrib-Cartpole"')
assert "const preserved = true;" in updated