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## Overview
This project/repository serves as a template for building projects or extensions based on Isaac Lab.
It allows you to develop in an isolated environment, outside of the core Isaac Lab repository.
**Key Features:**
- `Isolation` Work outside the core Isaac Lab repository, ensuring that your development efforts remain self-contained.
- `Flexibility` This template is set up to allow your code to be run as an extension in Omniverse.
**Keywords:** extension, template, isaaclab
## Installation
- Install Isaac Lab by following the [installation guide](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html).
We recommend using the conda or uv installation as it simplifies calling Python scripts from the terminal.
- Clone or copy this project/repository separately from the Isaac Lab installation (i.e. outside the `IsaacLab` directory):
- Using a python interpreter that has Isaac Lab installed, install the library in editable mode using:
```bash
# use 'PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
python -m pip install -e source/{{ name }}
- Verify that the extension is correctly installed by:
- Listing the available tasks:
Note: It the task name changes, it may be necessary to update the search pattern `"Template-"`
(in the `scripts/list_envs.py` file) so that it can be listed.
```bash
# use 'FULL_PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
python scripts/list_envs.py
```
- Running a task:
```bash
# use 'FULL_PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
python scripts/<RL_LIBRARY>/train.py --task=<TASK_NAME>
```
- Running a task with dummy agents:
These include dummy agents that output zero or random agents. They are useful to ensure that the environments are configured correctly.
- Zero-action agent
```bash
# use 'FULL_PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
python scripts/zero_agent.py --task=<TASK_NAME>
```
- Random-action agent
```bash
# use 'FULL_PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
python scripts/random_agent.py --task=<TASK_NAME>
```
### Set up IDE (Optional)
To setup the IDE, please follow these instructions:
- Run VSCode Tasks, by pressing `Ctrl+Shift+P`, selecting `Tasks: Run Task` and running the `setup_python_env` in the drop down menu.
When running this task, you will be prompted to add the absolute path to your Isaac Sim installation.
If everything executes correctly, it should create a file .python.env in the `.vscode` directory.
The file contains the python paths to all the extensions provided by Isaac Sim and Omniverse.
This helps in indexing all the python modules for intelligent suggestions while writing code.
### Setup as Omniverse Extension (Optional)
We provide an example UI extension that will load upon enabling your extension defined in `source/{{ name }}/{{ name }}/ui_extension_example.py`.
To enable your extension, follow these steps:
1. **Add the search path of this project/repository** to the extension manager:
- Navigate to the extension manager using `Window` -> `Extensions`.
- Click on the **Hamburger Icon**, then go to `Settings`.
- In the `Extension Search Paths`, enter the absolute path to the `source` directory of this project/repository.
- If not already present, in the `Extension Search Paths`, enter the path that leads to Isaac Lab's extension directory directory (`IsaacLab/source`)
- Click on the **Hamburger Icon**, then click `Refresh`.
2. **Search and enable your extension**:
- Find your extension under the `Third Party` category.
- Toggle it to enable your extension.
## Code formatting
We have a pre-commit template to automatically format your code.
To install pre-commit:
```bash
pip install pre-commit
```
Then you can run pre-commit with:
```bash
pre-commit run --all-files
```
## Troubleshooting
### Pylance Missing Indexing of Extensions
In some VsCode versions, the indexing of part of the extensions is missing.
In this case, add the path to your extension in `.vscode/settings.json` under the key `"python.analysis.extraPaths"`.
```json
{
"python.analysis.extraPaths": [
"<path-to-ext-repo>/source/{{ name }}"
]
}
```
### Pylance Crash
If you encounter a crash in `pylance`, it is probable that too many files are indexed and you run out of memory.
A possible solution is to exclude some of omniverse packages that are not used in your project.
To do so, modify `.vscode/settings.json` and comment out packages under the key `"python.analysis.extraPaths"`
Some examples of packages that can likely be excluded are:
```json
"<path-to-isaac-sim>/extscache/omni.anim.*" // Animation packages
"<path-to-isaac-sim>/extscache/omni.kit.*" // Kit UI tools
"<path-to-isaac-sim>/extscache/omni.graph.*" // Graph UI tools
"<path-to-isaac-sim>/extscache/omni.services.*" // Services tools
...
```
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