Generates vscode settings with python paths for extensions (#32)

* adds utility to generate vscode settings with extra python paths
* adds flag to create vscode settings in orbit.sh
* updates docs with vscode flag
* updates comment in gitignore

.gitignore

@@ -24,6 +24,8 @@
 # IDE
 **/.idea/
 **/.vscode/.**
+# Include all but settings.json: auto-generated using the template in .vscode/tools/settings.template.json
+.vscode/settings.json
 
 # Outputs
 **/output/*

.vscode/settings.json → .vscode/tools/settings.template.json

@@ -2,7 +2,7 @@
     "files.associations": {
         "*.tpp": "cpp",
         "*.kit": "toml",
-        "*.rst": "restructuredtext",
+        "*.rst": "restructuredtext"
     },
     "editor.rulers": [120],
 
@@ -25,7 +25,7 @@
         "cpp",
         "asciidoc",
         "python",
-        "restructuredtext",
+        "restructuredtext"
     ],
     "cSpell.words": [
         "literalinclude",
@@ -39,7 +39,7 @@
         "robomimic",
         "teleoperation",
         "xform",
-        "numpy",
+        "numpy"
     ],
     // This enables python language server. Seems to work slightly better than jedi:
     "python.languageServer": "Pylance",
@@ -66,5 +66,8 @@
     },
     "[restructuredtext]": {
         "editor.tabSize": 2
-    }
+    },
+    // Python extra paths
+    // Note: this is filled up when "./orbit.sh -i" is run
+    "python.analysis.extraPaths": []
 }

.vscode/tools/setup_vscode.py

+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+#
+
+"""
+This script merges the python.analysis.extraPaths from the "_isaac_sim/.vscode/settings.json" file into
+the ".vscode/settings.json" file.
+
+This is necessary because Isaac Sim 2022.2.1 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 os
+
+
+ORBIT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../"))
+"""Path to the orbit directory."""
+ISAACSIM_DIR = os.path.join(ORBIT_DIR, "_isaac_sim")
+"""Path to the isaac-sim directory."""
+
+
+def main():
+    # isaac-sim settings
+    isaacsim_vscode_filename = os.path.join(ISAACSIM_DIR, ".vscode/settings.json")
+    # 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]
+    # change the path names to be relative to the orbit directory
+    path_names = settings.split(",")
+    path_names = [path_name.strip().strip('"') for path_name in path_names]
+    path_names = ['"${workspaceFolder}/_isaac_sim/' + path_name + '"' for path_name in path_names if len(path_name) > 0]
+    # combine them into a single string
+    path_names = ",\n\t\t".expandtabs(4).join(path_names)
+
+    # read the orbit template settings file
+    orbit_vscode_template_filename = os.path.join(ORBIT_DIR, ".vscode/tools/settings.template.json")
+    with open(orbit_vscode_template_filename) as f:
+        orbit_template_settings = f.read()
+    # replace the path names in the orbit settings file with the path names from the isaac-sim settings file
+    orbit_settings = re.sub(
+        r"\"python.analysis.extraPaths\": \[.*?\]",
+        '"python.analysis.extraPaths": [\n\t\t'.expandtabs(4) + path_names + "\n\t]".expandtabs(4),
+        orbit_template_settings,
+        flags=re.DOTALL,
+    )
+    # 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: {orbit_vscode_template_filename}\n"
+    )
+    orbit_settings = header_message + orbit_settings
+
+    # write the orbit settings file
+    orbit_vscode_filename = os.path.join(ORBIT_DIR, ".vscode/settings.json")
+    with open(orbit_vscode_filename, "w") as f:
+        f.write(orbit_settings)
+
+
+if __name__ == "__main__":
+    main()

docs/source/setup/installation.rst

@@ -140,7 +140,7 @@ utilities to manage extensions:
 
    ./orbit.sh --help
 
-   usage: orbit.sh [-h] [-i] [-e] [-f] [-p] [-s] -- Utility to manage extensions in Isaac Orbit.
+   usage: orbit.sh [-h] [-i] [-e] [-f] [-p] [-s] [-v] -- Utility to manage extensions in Isaac Orbit.
 
    optional arguments:
        -h, --help       Display the help content.
@@ -149,6 +149,7 @@ utilities to manage extensions:
        -f, --format     Run pre-commit to format the code and check lints.
        -p, --python     Run the python executable (python.sh) provided by Isaac Sim.
        -s, --sim        Run the simulator executable (isaac-sim.sh) provided by Isaac Sim.
+       -v, --vscode     Generate the VSCode settings file from template.
 
 The executable automatically fetches the python bundled with Isaac
 Sim, using ``./orbit.sh -p`` command. To not restrict running commands

orbit.sh

@@ -75,9 +75,18 @@ install_orbit_extension() {
     fi
 }
 
+# update the vscode settings from template and isaac sim settings
+update_vscode_settings() {
+    echo "[INFO] Setting up vscode settings..."
+    # retrieve the python executable
+    python_exe=$(extract_isaacsim_python)
+    # run the setup script
+    ${python_exe} ${ORBIT_PATH}/.vscode/tools/setup_vscode.py
+}
+
 # print the usage description
 print_help () {
-    echo -e "\nusage: $(basename "$0") [-h] [-i] [-e] [-f] [-p] [-s] -- Utility to manage extensions in Isaac Orbit."
+    echo -e "\nusage: $(basename "$0") [-h] [-i] [-e] [-f] [-p] [-s] [-v] -- Utility to manage extensions in Isaac Orbit."
     echo -e "\noptional arguments:"
     echo -e "\t-h, --help       Display the help content."
     echo -e "\t-i, --install    Install the extensions inside Isaac Orbit."
@@ -85,6 +94,7 @@ print_help () {
     echo -e "\t-f, --format     Run pre-commit to format the code and check lints."
     echo -e "\t-p, --python     Run the python executable (python.sh) provided by Isaac Sim."
     echo -e "\t-s, --sim        Run the simulator executable (isaac-sim.sh) provided by Isaac Sim."
+    echo -e "\t-v, --vscode     Generate the VSCode settings file from template."
     echo -e "\n" >&2
 }
 
@@ -115,6 +125,8 @@ while [[ $# -gt 0 ]]; do
             find -L "${ORBIT_PATH}/source/extensions" -mindepth 1 -maxdepth 1 -type d -exec bash -c 'install_orbit_extension "{}"' \;
             # unset local variables
             unset install_orbit_extension
+            # setup vscode settings
+            update_vscode_settings
             shift # past argument
             ;;
         -e|--extra)
@@ -122,8 +134,24 @@ while [[ $# -gt 0 ]]; do
             echo "[INFO] Installing extra requirements such as learning frameworks..."
             python_exe=$(extract_isaacsim_python)
             # install the rl-frameworks specified
-            ${python_exe} -m pip install -e ${ORBIT_PATH}/source/extensions/omni.isaac.orbit_envs[all]
+            ${python_exe} ${ORBIT_PATH}/source/extensions/omni.isaac.orbit_envs[all]
+            shift # past argument
+            ;;
+        -f|--format)
+            # run the formatter over the repository
+            # check if pre-commit is installed
+            if ! command -v pre-commit &>/dev/null; then
+                echo "[INFO] Installing pre-commit..."
+                pip install pre-commit
+            fi
+            echo "[INFO] Formatting the repository..."
+            # always execute inside the Orbit directory
+            cd "${ORBIT_PATH}"
+            pre-commit run --all-files
+            cd -
             shift # past argument
+            # exit neatly
+            break
             ;;
         -p|--python)
             # run the python provided by isaacsim
@@ -143,18 +171,9 @@ while [[ $# -gt 0 ]]; do
             # exit neatly
             break
             ;;
-        -f|--format)
-            # run the formatter over the repository
-            # check if pre-commit is installed
-            if ! command -v pre-commit &>/dev/null; then
-                echo "[INFO] Installing pre-commit..."
-                pip install pre-commit
-            fi
-            echo "[INFO] Formatting the repository..."
-            # always execute inside the Orbit directory
-            cd "${ORBIT_PATH}"
-            pre-commit run --all-files
-            cd -
+        -v|--vscode)
+            # update the vscode settings
+            update_vscode_settings
             shift # past argument
             # exit neatly
             break