initial commit
This commit is contained in:
CaoWangrenbo
103
.vscode/tools/launch.template.json
vendored
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103
.vscode/tools/launch.template.json
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{
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// Use IntelliSense to learn about possible attributes.
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// Hover to view descriptions of existing attributes.
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// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
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"version": "0.2.0",
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"configurations": [
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// For standalone script execution
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{
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"name": "Python: Current File",
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"type": "debugpy",
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"request": "launch",
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"program": "${file}",
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"console": "integratedTerminal",
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},
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{
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"name": "Python: Train Template-Flexr-V0-Direct-v0 with rl_games (PPO)",
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"type": "debugpy",
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"request": "launch",
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"args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "4096", "--headless"],
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"program": "${workspaceFolder}/scripts/rl_games/train.py",
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"console": "integratedTerminal",
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},
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{
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"name": "Python: Play Template-Flexr-V0-Direct-v0 with rl_games (PPO)",
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"type": "debugpy",
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"request": "launch",
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"args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "32"],
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"program": "${workspaceFolder}/scripts/rl_games/play.py",
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"console": "integratedTerminal",
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},
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{
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"name": "Python: Train Template-Flexr-V0-Direct-v0 with rsl_rl (PPO)",
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"type": "debugpy",
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"request": "launch",
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"args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "4096", "--headless"],
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"program": "${workspaceFolder}/scripts/rsl_rl/train.py",
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"console": "integratedTerminal",
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},
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{
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"name": "Python: Play Template-Flexr-V0-Direct-v0 with rsl_rl (PPO)",
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"type": "debugpy",
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"request": "launch",
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"args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "32"],
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"program": "${workspaceFolder}/scripts/rsl_rl/play.py",
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"console": "integratedTerminal",
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},
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// For script execution inside a Docker
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{
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"name": "Docker: Current File",
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"type": "debugpy",
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"request": "launch",
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"program": "${file}",
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"console": "integratedTerminal",
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"env": {
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"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
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}
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},
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{
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"name": "Docker: Train Template-Flexr-V0-Direct-v0 with rl_games (PPO)",
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"type": "debugpy",
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"request": "launch",
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"args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "4096", "--headless"],
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"program": "${workspaceFolder}/scripts/rl_games/train.py",
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"console": "integratedTerminal",
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"env": {
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"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
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},
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},
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{
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"name": "Docker: Play Template-Flexr-V0-Direct-v0 with rl_games (PPO)",
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"type": "debugpy",
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"request": "launch",
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"args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "32"],
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"program": "${workspaceFolder}/scripts/rl_games/play.py",
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"console": "integratedTerminal",
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"env": {
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"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
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},
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},
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{
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"name": "Docker: Train Template-Flexr-V0-Direct-v0 with rsl_rl (PPO)",
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"type": "debugpy",
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"request": "launch",
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"args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "4096", "--headless"],
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"program": "${workspaceFolder}/scripts/rsl_rl/train.py",
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"console": "integratedTerminal",
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"env": {
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"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
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},
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},
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{
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"name": "Docker: Play Template-Flexr-V0-Direct-v0 with rsl_rl (PPO)",
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"type": "debugpy",
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"request": "launch",
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"args" : ["--task", "Template-Flexr-V0-Direct-v0", "--num_envs", "32"],
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"program": "${workspaceFolder}/scripts/rsl_rl/play.py",
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"console": "integratedTerminal",
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"env": {
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"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
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},
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},
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]
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}
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86
.vscode/tools/settings.template.json
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86
.vscode/tools/settings.template.json
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{
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"files.associations": {
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"*.tpp": "cpp",
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"*.kit": "toml",
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"*.rst": "restructuredtext"
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},
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"editor.rulers": [120],
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// files to be ignored by the linter
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"files.watcherExclude": {
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"**/.git/objects/**": true,
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"**/.git/subtree-cache/**": true,
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"**/node_modules/**": true,
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"**/_isaac_sim/**": true,
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"**/_compiler/**": true
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},
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// Configuration for spelling checker
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"spellright.language": [
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"en-US-10-1."
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],
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"spellright.documentTypes": [
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"markdown",
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"latex",
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"plaintext",
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"cpp",
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"asciidoc",
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"python",
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"restructuredtext"
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],
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"cSpell.words": [
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"literalinclude",
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"linenos",
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"instanceable",
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"isaacSim",
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"jacobians",
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"pointcloud",
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"ridgeback",
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"rllib",
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"robomimic",
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"teleoperation",
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"xform",
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"numpy",
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"tensordict",
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"flatcache",
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"physx",
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"dpad",
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"gamepad",
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"linspace",
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"upsampled",
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"downsampled",
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"arange",
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"discretization",
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"trimesh",
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"uninstanceable"
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],
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// This enables python language server. Seems to work slightly better than jedi:
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"python.languageServer": "Pylance",
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// We use "black" as a formatter:
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"python.formatting.provider": "black",
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"python.formatting.blackArgs": ["--line-length", "120"],
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// Use flake8 for linting
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"python.linting.pylintEnabled": false,
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"python.linting.flake8Enabled": true,
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"python.linting.flake8Args": [
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"--max-line-length=120"
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],
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// Use docstring generator
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"autoDocstring.docstringFormat": "google",
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"autoDocstring.guessTypes": true,
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// Python environment path
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// note: the default interpreter is overridden when user selects a workspace interpreter
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// in the status bar. For example, the virtual environment python interpreter
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"python.defaultInterpreterPath": "",
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// ROS distribution
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"ros.distro": "noetic",
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// Language specific settings
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"[python]": {
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"editor.tabSize": 4
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},
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"[restructuredtext]": {
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"editor.tabSize": 2
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},
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// Python extra paths
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// Note: this is filled up when vscode is set up for the first time
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"python.analysis.extraPaths": []
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}
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220
.vscode/tools/setup_vscode.py
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220
.vscode/tools/setup_vscode.py
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@@ -0,0 +1,220 @@
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# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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"""This script sets up the vs-code settings for the Isaac Lab project.
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This script merges the python.analysis.extraPaths from the "{ISAACSIM_DIR}/.vscode/settings.json" file into
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the ".vscode/settings.json" file.
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This is necessary because Isaac Sim 2022.2.1 onwards does not add the necessary python packages to the python path
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when the "setup_python_env.sh" is run as part of the vs-code launch configuration.
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"""
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import argparse
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import os
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import pathlib
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import platform
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import re
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import sys
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PROJECT_DIR = pathlib.Path(__file__).parents[2]
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"""Path to the the project directory."""
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try:
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import isaacsim # noqa: F401
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isaacsim_dir = os.environ.get("ISAAC_PATH", "")
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except ModuleNotFoundError or ImportError:
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# Create a parser to get the isaac-sim path
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parser = argparse.ArgumentParser(description="Setup the VSCode settings for the project.")
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parser.add_argument("--isaac_path", type=str, help="The absolute path to the Isaac Sim installation.")
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args = parser.parse_args()
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# parse the isaac-sim directory
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isaacsim_dir = args.isaac_path
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# check if the isaac-sim directory is provided
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if not os.path.exists(isaacsim_dir):
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raise FileNotFoundError(
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f"Could not find the isaac-sim directory: {isaacsim_dir}. Please provide the correct path to the Isaac Sim"
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" installation."
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)
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except EOFError:
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print("Unable to trigger EULA acceptance. This is likely due to the script being run in a non-interactive shell.")
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print("Please run the script in an interactive shell to accept the EULA.")
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print("Skipping the setup of the VSCode settings...")
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sys.exit(0)
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# check if the isaac-sim directory exists
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if not os.path.exists(isaacsim_dir):
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raise FileNotFoundError(
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f"Could not find the isaac-sim directory: {isaacsim_dir}. There are two possible reasons for this:"
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"\n\t1. The Isaac Sim directory does not exist as provided CLI path."
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"\n\t2. The script could import the 'isaacsim' package. This could be due to the 'isaacsim' package not being "
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"installed in the Python environment.\n"
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"\nPlease make sure that the Isaac Sim directory exists or that the 'isaacsim' package is installed."
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)
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ISAACSIM_DIR = isaacsim_dir
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"""Path to the isaac-sim directory."""
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def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
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"""Overwrite the python.analysis.extraPaths in the Isaac Lab settings file.
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The extraPaths are replaced with the path names from the isaac-sim settings file that exists in the
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"{ISAACSIM_DIR}/.vscode/settings.json" file.
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If the isaac-sim settings file does not exist, the extraPaths are not overwritten.
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Args:
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isaaclab_settings: The settings string to use as template.
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Returns:
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The settings string with overwritten python analysis extra paths.
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"""
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# isaac-sim settings
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isaacsim_vscode_filename = os.path.join(ISAACSIM_DIR, ".vscode", "settings.json")
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# we use the isaac-sim settings file to get the python.analysis.extraPaths for kit extensions
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# if this file does not exist, we will not add any extra paths
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if os.path.exists(isaacsim_vscode_filename):
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# read the path names from the isaac-sim settings file
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with open(isaacsim_vscode_filename) as f:
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vscode_settings = f.read()
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# extract the path names
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# search for the python.analysis.extraPaths section and extract the contents
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settings = re.search(
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r"\"python.analysis.extraPaths\": \[.*?\]", vscode_settings, flags=re.MULTILINE | re.DOTALL
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)
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settings = settings.group(0)
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settings = settings.split('"python.analysis.extraPaths": [')[-1]
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settings = settings.split("]")[0]
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# read the path names from the isaac-sim settings file
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path_names = settings.split(",")
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path_names = [path_name.strip().strip('"') for path_name in path_names]
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path_names = [path_name for path_name in path_names if len(path_name) > 0]
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# change the path names to be relative to the Isaac Lab directory
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rel_path = os.path.relpath(ISAACSIM_DIR, PROJECT_DIR)
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path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
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else:
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path_names = []
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print(
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f"[WARN] Could not find Isaac Sim VSCode settings: {isaacsim_vscode_filename}."
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"\n\tThis will result in missing 'python.analysis.extraPaths' in the VSCode"
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"\n\tsettings, which limits the functionality of the Python language server."
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"\n\tHowever, it does not affect the functionality of the Isaac Lab project."
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"\n\tWe are working on a fix for this issue with the Isaac Sim team."
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)
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# add the path names that are in the Isaac Lab extensions directory
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isaaclab_extensions = os.listdir(os.path.join(PROJECT_DIR, "source"))
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path_names.extend(['"${workspaceFolder}/source/' + ext + '"' for ext in isaaclab_extensions])
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# combine them into a single string
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path_names = ",\n\t\t".expandtabs(4).join(path_names)
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# deal with the path separator being different on Windows and Unix
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path_names = path_names.replace("\\", "/")
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# replace the path names in the Isaac Lab settings file with the path names parsed
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isaaclab_settings = re.sub(
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r"\"python.analysis.extraPaths\": \[.*?\]",
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'"python.analysis.extraPaths": [\n\t\t'.expandtabs(4) + path_names + "\n\t]".expandtabs(4),
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isaaclab_settings,
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flags=re.DOTALL,
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)
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# return the Isaac Lab settings string
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return isaaclab_settings
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def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
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"""Overwrite the default python interpreter in the Isaac Lab settings file.
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The default python interpreter is replaced with the path to the python interpreter used by the
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isaac-sim project. This is necessary because the default python interpreter is the one shipped with
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isaac-sim.
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Args:
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isaaclab_settings: The settings string to use as template.
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Returns:
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The settings string with overwritten default python interpreter.
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"""
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# read executable name
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python_exe = os.path.normpath(sys.executable)
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# replace with Isaac Sim's python.sh or python.bat scripts to make sure python with correct
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# source paths is set as default
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if f"kit{os.sep}python{os.sep}bin{os.sep}python" in python_exe:
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# Check if the OS is Windows or Linux to use appropriate shell file
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if platform.system() == "Windows":
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python_exe = python_exe.replace(f"kit{os.sep}python{os.sep}bin{os.sep}python3", "python.bat")
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else:
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python_exe = python_exe.replace(f"kit{os.sep}python{os.sep}bin{os.sep}python3", "python.sh")
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# replace the default python interpreter in the Isaac Lab settings file with the path to the
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# python interpreter in the Isaac Lab directory
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isaaclab_settings = re.sub(
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r"\"python.defaultInterpreterPath\": \".*?\"",
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f'"python.defaultInterpreterPath": "{python_exe}"',
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isaaclab_settings,
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flags=re.DOTALL,
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)
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# return the Isaac Lab settings file
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return isaaclab_settings
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def main():
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# Isaac Lab template settings
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isaaclab_vscode_template_filename = os.path.join(PROJECT_DIR, ".vscode", "tools", "settings.template.json")
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# make sure the Isaac Lab template settings file exists
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if not os.path.exists(isaaclab_vscode_template_filename):
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raise FileNotFoundError(
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f"Could not find the Isaac Lab template settings file: {isaaclab_vscode_template_filename}"
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)
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# read the Isaac Lab template settings file
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with open(isaaclab_vscode_template_filename) as f:
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isaaclab_template_settings = f.read()
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# overwrite the python.analysis.extraPaths in the Isaac Lab settings file with the path names
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isaaclab_settings = overwrite_python_analysis_extra_paths(isaaclab_template_settings)
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# overwrite the default python interpreter in the Isaac Lab settings file with the path to the
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# python interpreter used to call this script
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isaaclab_settings = overwrite_default_python_interpreter(isaaclab_settings)
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# add template notice to the top of the file
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header_message = (
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"// This file is a template and is automatically generated by the setup_vscode.py script.\n"
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"// Do not edit this file directly.\n"
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"// \n"
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f"// Generated from: {isaaclab_vscode_template_filename}\n"
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)
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isaaclab_settings = header_message + isaaclab_settings
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# write the Isaac Lab settings file
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isaaclab_vscode_filename = os.path.join(PROJECT_DIR, ".vscode", "settings.json")
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with open(isaaclab_vscode_filename, "w") as f:
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f.write(isaaclab_settings)
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# copy the launch.json file if it doesn't exist
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isaaclab_vscode_launch_filename = os.path.join(PROJECT_DIR, ".vscode", "launch.json")
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isaaclab_vscode_template_launch_filename = os.path.join(PROJECT_DIR, ".vscode", "tools", "launch.template.json")
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if not os.path.exists(isaaclab_vscode_launch_filename):
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# read template launch settings
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with open(isaaclab_vscode_template_launch_filename) as f:
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isaaclab_template_launch_settings = f.read()
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# add header
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header_message = header_message.replace(
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isaaclab_vscode_template_filename, isaaclab_vscode_template_launch_filename
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)
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isaaclab_launch_settings = header_message + isaaclab_template_launch_settings
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# write the Isaac Lab launch settings file
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with open(isaaclab_vscode_launch_filename, "w") as f:
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f.write(isaaclab_launch_settings)
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|
||||
|
||||
if __name__ == "__main__":
|
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main()
|
||||
Reference in New Issue
Block a user