initial commit

.vscode/.gitignore

@@ -0,0 +1,10 @@
+# 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

@@ -0,0 +1,12 @@
+{
+	// 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

@@ -0,0 +1,23 @@
+{
+    "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 ${input:isaac_path}"
+            }
+        }
+    ],
+    "inputs": [
+        {
+            "id": "isaac_path",
+            "description": "Absolute path to the current Isaac Sim installation. Can be skipped if Isaac Sim installed from pip.",
+            "default": "${HOME}/isaacsim",
+            "type": "promptString"
+        },
+    ]
+}

.vscode/tools/launch.template.json

@@ -0,0 +1,103 @@
+{
+    // 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": "${file}",
+            "console": "integratedTerminal",
+        },
+        {
+            "name": "Python: Train Template-Flexr-V0-Direct-v0 with rl_games (PPO)",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "4096", "--headless"],
+            "program": "${workspaceFolder}/scripts/rl_games/train.py",
+            "console": "integratedTerminal",
+        },
+        {
+            "name": "Python: Play Template-Flexr-V0-Direct-v0 with rl_games (PPO)",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "32"],
+            "program": "${workspaceFolder}/scripts/rl_games/play.py",
+            "console": "integratedTerminal",
+        },
+        {
+            "name": "Python: Train Template-Flexr-V0-Direct-v0 with rsl_rl (PPO)",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "4096", "--headless"],
+            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
+            "console": "integratedTerminal",
+        },
+        {
+            "name": "Python: Play Template-Flexr-V0-Direct-v0 with rsl_rl (PPO)",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Flexr-V0-Direct-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-Flexr-V0-Direct-v0 with rl_games (PPO)",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "4096", "--headless"],
+            "program": "${workspaceFolder}/scripts/rl_games/train.py",
+            "console": "integratedTerminal",
+            "env": {
+                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
+            },
+        },
+        {
+            "name": "Docker: Play Template-Flexr-V0-Direct-v0 with rl_games (PPO)",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "32"],
+            "program": "${workspaceFolder}/scripts/rl_games/play.py",
+            "console": "integratedTerminal",
+            "env": {
+                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
+            },
+        },
+        {
+            "name": "Docker: Train Template-Flexr-V0-Direct-v0 with rsl_rl (PPO)",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "4096", "--headless"],
+            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
+            "console": "integratedTerminal",
+            "env": {
+                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
+            },
+        },
+        {
+            "name": "Docker: Play Template-Flexr-V0-Direct-v0 with rsl_rl (PPO)",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "32"],
+            "program": "${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",
+    // We use "black" as a formatter:
+    "python.formatting.provider": "black",
+    "python.formatting.blackArgs": ["--line-length", "120"],
+    // Use flake8 for linting
+    "python.linting.pylintEnabled": false,
+    "python.linting.flake8Enabled": true,
+    "python.linting.flake8Args": [
+        "--max-line-length=120"
+    ],
+    // 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) 2022-2025, The Isaac Lab Project Developers.
+# 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 argparse
+import os
+import pathlib
+import platform
+import re
+import sys
+
+PROJECT_DIR = pathlib.Path(__file__).parents[2]
+"""Path to the the project directory."""
+
+try:
+    import isaacsim  # noqa: F401
+
+    isaacsim_dir = os.environ.get("ISAAC_PATH", "")
+except ModuleNotFoundError or ImportError:
+    # Create a parser to get the isaac-sim path
+    parser = argparse.ArgumentParser(description="Setup the VSCode settings for the project.")
+    parser.add_argument("--isaac_path", type=str, help="The absolute path to the Isaac Sim installation.")
+    args = parser.parse_args()
+
+    # parse the isaac-sim directory
+    isaacsim_dir = args.isaac_path
+    # check if the isaac-sim directory is provided
+    if not os.path.exists(isaacsim_dir):
+        raise FileNotFoundError(
+            f"Could not find the isaac-sim directory: {isaacsim_dir}. Please provide the correct path to the Isaac Sim"
+            " installation."
+        )
+except EOFError:
+    print("Unable to trigger EULA acceptance. This is likely due to the script being run in a non-interactive shell.")
+    print("Please run the script in an interactive shell to accept the EULA.")
+    print("Skipping the setup of the VSCode settings...")
+    sys.exit(0)
+
+# check if the isaac-sim directory exists
+if not os.path.exists(isaacsim_dir):
+    raise FileNotFoundError(
+        f"Could not find the isaac-sim directory: {isaacsim_dir}. There are two possible reasons for this:"
+        "\n\t1. The Isaac Sim directory does not exist as provided CLI path."
+        "\n\t2. The script could import the 'isaacsim' package. This could be due to the 'isaacsim' package not being "
+        "installed in the Python environment.\n"
+        "\nPlease make sure that the Isaac Sim directory exists or that the 'isaacsim' package is installed."
+    )
+
+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 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, PROJECT_DIR)
+        path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
+    else:
+        path_names = []
+        print(
+            f"[WARN] Could not find Isaac Sim VSCode settings: {isaacsim_vscode_filename}."
+            "\n\tThis will result in missing 'python.analysis.extraPaths' in the VSCode"
+            "\n\tsettings, which limits the functionality of the Python language server."
+            "\n\tHowever, it does not affect the functionality of the Isaac Lab project."
+            "\n\tWe are working on a fix for this issue with the Isaac Sim team."
+        )
+
+    # add the path names that are in the Isaac Lab extensions directory
+    isaaclab_extensions = os.listdir(os.path.join(PROJECT_DIR, "source"))
+    path_names.extend(['"${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 = os.path.normpath(sys.executable)
+
+    # replace with Isaac Sim's python.sh or python.bat scripts to make sure python with correct
+    # source paths is set as default
+    if f"kit{os.sep}python{os.sep}bin{os.sep}python" in python_exe:
+        # Check if the OS is Windows or Linux to use appropriate shell file
+        if platform.system() == "Windows":
+            python_exe = python_exe.replace(f"kit{os.sep}python{os.sep}bin{os.sep}python3", "python.bat")
+        else:
+            python_exe = python_exe.replace(f"kit{os.sep}python{os.sep}bin{os.sep}python3", "python.sh")
+
+    # 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(PROJECT_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(PROJECT_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(PROJECT_DIR, ".vscode", "launch.json")
+    isaaclab_vscode_template_launch_filename = os.path.join(PROJECT_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()