Initial commit

.vscode/.gitignore

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+# Note: These files are kept for development purposes only.
+!tools/launch.template.json
+!tools/settings.template.json
+!tools/setup_vscode.py
+!extensions.json
+!tasks.json
+
+# Ignore all other files
+.python.env
+*.json

.vscode/extensions.json

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+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846
+	// for the documentation about the extensions.json format
+	"recommendations": [
+		"ms-python.python",
+		"ms-python.vscode-pylance",
+		"ban.spellright",
+		"ms-iot.vscode-ros",
+		"ms-python.black-formatter",
+		"ms-python.flake8",
+	]
+}

.vscode/tasks.json

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+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "setup_python_env",
+            "type": "shell",
+            "linux": {
+                "command": "${input:isaac_path}/python.sh ${workspaceFolder}/.vscode/tools/setup_vscode.py --isaac_path ${input:isaac_path}"
+            },
+            "windows": {
+                "command": "${input:isaac_path}/python.bat ${workspaceFolder}/.vscode/tools/setup_vscode.py --isaac_path ${input:isaac_path}"
+            }
+        }
+    ],
+    "inputs": [
+        {
+            "id": "isaac_path",
+            "description": "Absolute path to the current Isaac Sim installation. If you installed IsaacSim from pip, the import of it failed. Please make sure you run the task with the correct python environment. As fallback, you can directly execute the python script by running: ``python.sh <path-to-your-project>/.vscode/tools/setup_vscode.py``",
+            "default": "${HOME}/isaacsim",
+            "type": "promptString"
+        },
+    ]
+}

.vscode/tools/launch.template.json

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+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        // For standalone script execution
+        {
+            "name": "Python: Current File",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "${file}",
+            "console": "integratedTerminal",
+        },
+        {
+            "name": "Python: Train Template-Dex-Workbench-v0 with rsl_rl (PPO)",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Dex-Workbench-v0", "--num_envs", "4096", "--headless"],
+            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
+            "console": "integratedTerminal",
+        },
+        {
+            "name": "Python: Play Template-Dex-Workbench-v0 with rsl_rl (PPO)",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Dex-Workbench-v0", "--num_envs", "32"],
+            "program": "${workspaceFolder}/scripts/rsl_rl/play.py",
+            "console": "integratedTerminal",
+        },
+        // For script execution inside a Docker
+        {
+            "name": "Docker: Current File",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "${file}",
+            "console": "integratedTerminal",
+            "env": {
+                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
+            }
+        },
+        {
+            "name": "Docker: Train Template-Dex-Workbench-v0 with rsl_rl (PPO)",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Dex-Workbench-v0", "--num_envs", "4096", "--headless"],
+            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
+            "console": "integratedTerminal",
+            "env": {
+                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
+            },
+        },
+        {
+            "name": "Docker: Play Template-Dex-Workbench-v0 with rsl_rl (PPO)",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Dex-Workbench-v0", "--num_envs", "32"],
+            "program": "${workspaceFolder}/scripts/rsl_rl/play.py",
+            "console": "integratedTerminal",
+            "env": {
+                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
+            },
+        },
+    ]
+}

.vscode/tools/settings.template.json

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+{
+    "files.associations": {
+        "*.tpp": "cpp",
+        "*.kit": "toml",
+        "*.rst": "restructuredtext"
+    },
+    "editor.rulers": [120],
+
+    // files to be ignored by the linter
+    "files.watcherExclude": {
+        "**/.git/objects/**": true,
+        "**/.git/subtree-cache/**": true,
+        "**/node_modules/**": true,
+        "**/_isaac_sim/**": true,
+        "**/_compiler/**": true
+    },
+    // Configuration for spelling checker
+    "spellright.language": [
+        "en-US-10-1."
+    ],
+    "spellright.documentTypes": [
+        "markdown",
+        "latex",
+        "plaintext",
+        "cpp",
+        "asciidoc",
+        "python",
+        "restructuredtext"
+    ],
+    "cSpell.words": [
+        "literalinclude",
+        "linenos",
+        "instanceable",
+        "isaacSim",
+        "jacobians",
+        "pointcloud",
+        "ridgeback",
+        "rllib",
+        "robomimic",
+        "teleoperation",
+        "xform",
+        "numpy",
+        "tensordict",
+        "flatcache",
+        "physx",
+        "dpad",
+        "gamepad",
+        "linspace",
+        "upsampled",
+        "downsampled",
+        "arange",
+        "discretization",
+        "trimesh",
+        "uninstanceable"
+    ],
+    // This enables python language server. Seems to work slightly better than jedi:
+    "python.languageServer": "Pylance",
+    // Use ruff as a formatter and linter
+    "ruff.configuration": "${workspaceFolder}/pyproject.toml",
+    // Use docstring generator
+    "autoDocstring.docstringFormat": "google",
+    "autoDocstring.guessTypes": true,
+    // Python environment path
+    // note: the default interpreter is overridden when user selects a workspace interpreter
+    //     in the status bar. For example, the virtual environment python interpreter
+    "python.defaultInterpreterPath": "",
+    // ROS distribution
+    "ros.distro": "noetic",
+    // Language specific settings
+    "[python]": {
+        "editor.tabSize": 4
+    },
+    "[restructuredtext]": {
+        "editor.tabSize": 2
+    },
+    // Python extra paths
+    // Note: this is filled up when vscode is set up for the first time
+    "python.analysis.extraPaths": []
+}

.vscode/tools/setup_vscode.py

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+# 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
+
+"""This script sets up the vs-code settings for the Isaac Lab project.
+
+This script merges the python.analysis.extraPaths from the "{ISAACSIM_DIR}/.vscode/settings.json" file into
+the ".vscode/settings.json" file.
+
+This is necessary because Isaac Sim 2022.2.1 onwards does not add the necessary python packages to the python path
+when the "setup_python_env.sh" is run as part of the vs-code launch configuration.
+"""
+
+import re
+import subprocess
+import sys
+import os
+import pathlib
+
+
+ISAACLAB_DIR = pathlib.Path(__file__).parents[2]
+"""Path to the Isaac Lab directory."""
+
+# Try to find IsaacSim dir
+_isaacsim_probe = subprocess.run(
+    [sys.executable, "-c", "import isaacsim; import os; print(os.environ.get('ISAAC_PATH', ''))"],
+    capture_output=True,
+    text=True,
+    check=False,
+    # avoid EULA prompt
+    stdin=subprocess.DEVNULL,
+)
+if _isaacsim_probe.returncode == 0 and _isaacsim_probe.stdout.strip():
+    isaacsim_dir = _isaacsim_probe.stdout.strip()
+else:
+    isaacsim_dir = os.path.join(ISAACLAB_DIR, "_isaac_sim")
+
+# check if the isaac-sim directory exists
+if not os.path.exists(isaacsim_dir):
+    print(
+        f"[WARN] Could not find the isaac-sim directory: {isaacsim_dir}."
+        "\n\tIsaac Sim does not appear to be installed. VS Code settings will be generated"
+        "\n\twithout Isaac Sim extra paths."
+    )
+    isaacsim_dir = ""
+
+ISAACSIM_DIR = isaacsim_dir
+"""Path to the isaac-sim directory."""
+
+
+def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
+    """Overwrite the python.analysis.extraPaths in the Isaac Lab settings file.
+
+    The extraPaths are replaced with the path names from the isaac-sim settings file that exists in the
+    "{ISAACSIM_DIR}/.vscode/settings.json" file.
+
+    If the isaac-sim settings file does not exist, the extraPaths are not overwritten.
+
+    Args:
+        isaaclab_settings: The settings string to use as template.
+
+    Returns:
+        The settings string with overwritten python analysis extra paths.
+    """
+    # isaac-sim settings
+    isaacsim_vscode_filename = os.path.join(ISAACSIM_DIR, ".vscode", "settings.json")
+
+    # we use the isaac-sim settings file to get the python.analysis.extraPaths for kit extensions
+    # if this file does not exist, we will not add any extra paths
+    if ISAACSIM_DIR and os.path.exists(isaacsim_vscode_filename):
+        # read the path names from the isaac-sim settings file
+        with open(isaacsim_vscode_filename) as f:
+            vscode_settings = f.read()
+        # extract the path names
+        # search for the python.analysis.extraPaths section and extract the contents
+        settings = re.search(
+            r"\"python.analysis.extraPaths\": \[.*?\]", vscode_settings, flags=re.MULTILINE | re.DOTALL
+        )
+        settings = settings.group(0)
+        settings = settings.split('"python.analysis.extraPaths": [')[-1]
+        settings = settings.split("]")[0]
+
+        # read the path names from the isaac-sim settings file
+        path_names = settings.split(",")
+        path_names = [path_name.strip().strip('"') for path_name in path_names]
+        path_names = [path_name for path_name in path_names if len(path_name) > 0]
+
+        # change the path names to be relative to the Isaac Lab directory
+        rel_path = os.path.relpath(ISAACSIM_DIR, ISAACLAB_DIR)
+        path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
+    else:
+        path_names = []
+
+    # add the path names that are in the Isaac Lab extensions directory
+    isaaclab_extensions = os.listdir(os.path.join(ISAACLAB_DIR, "source"))
+    path_names.extend(['"${workspaceFolder}/source/' + ext + '"' for ext in isaaclab_extensions])
+
+    # combine them into a single string
+    path_names = ",\n\t\t".expandtabs(4).join(path_names)
+    # deal with the path separator being different on Windows and Unix
+    path_names = path_names.replace("\\", "/")
+
+    # replace the path names in the Isaac Lab settings file with the path names parsed
+    isaaclab_settings = re.sub(
+        r"\"python.analysis.extraPaths\": \[.*?\]",
+        '"python.analysis.extraPaths": [\n\t\t'.expandtabs(4) + path_names + "\n\t]".expandtabs(4),
+        isaaclab_settings,
+        flags=re.DOTALL,
+    )
+    # return the Isaac Lab settings string
+    return isaaclab_settings
+
+
+def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
+    """Overwrite the default python interpreter in the Isaac Lab settings file.
+
+    The default python interpreter is replaced with the path to the python interpreter used by the
+    isaac-sim project. This is necessary because the default python interpreter is the one shipped with
+    isaac-sim.
+
+    Args:
+        isaaclab_settings: The settings string to use as template.
+
+    Returns:
+        The settings string with overwritten default python interpreter.
+    """
+    # read executable name
+    python_exe = sys.executable.replace("\\", "/")
+
+    # We make an exception for replacing the default interpreter if the
+    # path (/kit/python/bin/python3) indicates that we are using a local/container
+    # installation of IsaacSim. We will preserve the calling script as the default, python.sh.
+    # We want to use python.sh because it modifies LD_LIBRARY_PATH and PYTHONPATH
+    # (among other envars) that we need for all of our dependencies to be accessible.
+    if "kit/python/bin/python3" in python_exe:
+        return isaaclab_settings
+    # replace the default python interpreter in the Isaac Lab settings file with the path to the
+    # python interpreter in the Isaac Lab directory
+    isaaclab_settings = re.sub(
+        r"\"python.defaultInterpreterPath\": \".*?\"",
+        f'"python.defaultInterpreterPath": "{python_exe}"',
+        isaaclab_settings,
+        flags=re.DOTALL,
+    )
+    # return the Isaac Lab settings file
+    return isaaclab_settings
+
+
+def main():
+    # Isaac Lab template settings
+    isaaclab_vscode_template_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "settings.template.json")
+    # make sure the Isaac Lab template settings file exists
+    if not os.path.exists(isaaclab_vscode_template_filename):
+        raise FileNotFoundError(
+            f"Could not find the Isaac Lab template settings file: {isaaclab_vscode_template_filename}"
+        )
+    # read the Isaac Lab template settings file
+    with open(isaaclab_vscode_template_filename) as f:
+        isaaclab_template_settings = f.read()
+
+    # overwrite the python.analysis.extraPaths in the Isaac Lab settings file with the path names
+    isaaclab_settings = overwrite_python_analysis_extra_paths(isaaclab_template_settings)
+    # overwrite the default python interpreter in the Isaac Lab settings file with the path to the
+    # python interpreter used to call this script
+    isaaclab_settings = overwrite_default_python_interpreter(isaaclab_settings)
+
+    # add template notice to the top of the file
+    header_message = (
+        "// This file is a template and is automatically generated by the setup_vscode.py script.\n"
+        "// Do not edit this file directly.\n"
+        "// \n"
+        f"// Generated from: {isaaclab_vscode_template_filename}\n"
+    )
+    isaaclab_settings = header_message + isaaclab_settings
+
+    # write the Isaac Lab settings file
+    isaaclab_vscode_filename = os.path.join(ISAACLAB_DIR, ".vscode", "settings.json")
+    with open(isaaclab_vscode_filename, "w") as f:
+        f.write(isaaclab_settings)
+
+    # copy the launch.json file if it doesn't exist
+    isaaclab_vscode_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "launch.json")
+    isaaclab_vscode_template_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "launch.template.json")
+    if not os.path.exists(isaaclab_vscode_launch_filename):
+        # read template launch settings
+        with open(isaaclab_vscode_template_launch_filename) as f:
+            isaaclab_template_launch_settings = f.read()
+        # add header
+        header_message = header_message.replace(
+            isaaclab_vscode_template_filename, isaaclab_vscode_template_launch_filename
+        )
+        isaaclab_launch_settings = header_message + isaaclab_template_launch_settings
+        # write the Isaac Lab launch settings file
+        with open(isaaclab_vscode_launch_filename, "w") as f:
+            f.write(isaaclab_launch_settings)
+
+
+if __name__ == "__main__":
+    main()