{
    // 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": "${file}",
            "console": "integratedTerminal",
        },
        {
            "name": "Python: Train Environment",
            "type": "debugpy",
            "request": "launch",
            "args" : ["--task", "Template-Isaac-Velocity-Flat-Anymal-D-v0", "--num_envs", "4096", "--headless"],
            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
            "console": "integratedTerminal",
        },
        {
            "name": "Python: Play Environment",
            "type": "debugpy",
            "request": "launch",
            "args" : ["--task", "Template-Isaac-Velocity-Flat-Anymal-D-Play-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}:${workspaceFolder}"
            }
        },
        {
            "name": "Docker: Train Environment",
            "type": "debugpy",
            "request": "launch",
            "args" : ["--task", "Template-Isaac-Velocity-Flat-Anymal-D-v0", "--num_envs", "4096", "--headless"],
            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
            "console": "integratedTerminal",
            "env": {
                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
            }
        },
        {
            "name": "Docker: Play Environment",
            "type": "debugpy",
            "request": "launch",
            "args" : ["--task", "Template-Isaac-Velocity-Flat-Anymal-D-Play-v0", "--num_envs", "32"],
            "program": "${workspaceFolder}/scripts/rsl_rl/play.py",
            "console": "integratedTerminal",
            "env": {
                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
            }
        }
    ]
}