Bug fix: Add settings.template.json and tutorials into UWLab

.vscode/.gitignore

@@ -1,10 +1,10 @@
+# Ignore all other files
+.python.env
+*.json
+
 # Note: These files are kept for development purposes only.
 !tools/settings.template.json
 !tools/setup_vscode.py
 !extensions.json
 !launch.json
 !tasks.json
-
-# Ignore all other files
-.python.env
-*.json

.vscode/extensions.json

@@ -0,0 +1,16 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846
+	// for the documentation about the extensions.json format
+	"recommendations": [
+		"ms-vscode.cpptools",
+		"ms-python.python",
+		"ms-python.vscode-pylance",
+		"ban.spellright",
+		"streetsidesoftware.code-spell-checker",
+		"ms-iot.vscode-ros",
+		"ExecutableBookProject.myst-highlight",
+		"ms-python.black-formatter",
+		"ms-python.flake8",
+		"njpwerner.autodocstring"
+	]
+}

.vscode/tasks.json

@@ -0,0 +1,26 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "setup_python_env",
+            "type": "shell",
+            "linux": {
+                "command": "${workspaceFolder}/../IsaacLab/isaaclab.sh -p ${workspaceFolder}/.vscode/tools/setup_vscode.py"
+            },
+            "windows": {
+                "command": "${workspaceFolder}/../IsaacLab/isaaclab.bat -p ${workspaceFolder}/.vscode/tools/setup_vscode.py"
+            }
+        },
+        {
+            // run formatter
+            "label": "run_formatter",
+            "type": "shell",
+            "linux": {
+                "command": "${workspaceFolder}/../IsaacLab/isaaclab.sh --format"
+            },
+            "windows": {
+                "command": "${workspaceFolder}/../IsaacLab/isaaclab.bat --format"
+            }
+        }
+    ],
+}

.vscode/tools/settings.template.json

@@ -0,0 +1,108 @@
+{
+    "files.exclude": {
+        "**/.mypy_cache": true,
+        "**/__pycache__": true,
+        "**/*.egg-info": true
+    },
+    "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",
+        "flatcache",
+        "physx",
+        "dpad",
+        "gamepad",
+        "linspace",
+        "upsampled",
+        "downsampled",
+        "arange",
+        "discretization",
+        "trimesh",
+        "uninstanceable",
+        "***SUPPLIMENTARY_KEYWORDS***",
+        "configclass",
+        "isaaclab",
+        "***UWLAB_KEYWORDS***",
+        "teleop",
+        "octi",
+        "uwlab",
+        "realsense",
+        "rokoko",
+        "ikabsolute",
+        "ikabs",
+        "ikdelta",
+        "ikdel",
+        "***ROBOTS_KEYWORDS***",
+        "franka",
+        "tycho",
+        "hebi",
+        "xarm"
+    ],
+    // 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": "${workspaceFolder}/_isaac_sim/python.sh",
+    // 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 "./isaaclab.sh -i" is run
+    "python.analysis.extraPaths": []
+}

scripts/tutorials/00_sim/create_empty.py

@@ -0,0 +1,61 @@
+# Copyright (c) 2024-2025, The UW Lab Project Developers. (https://github.com/uw-lab/UWLab/blob/main/CONTRIBUTORS.md).
+# All Rights Reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""This script demonstrates how to create a simple stage in Isaac Sim.
+
+.. code-block:: bash
+
+    # Usage
+    ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py
+
+"""
+
+"""Launch Isaac Sim Simulator first."""
+
+
+import argparse
+
+from isaaclab.app import AppLauncher
+
+# create argparser
+parser = argparse.ArgumentParser(description="Tutorial on creating an empty stage.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
+args_cli = parser.parse_args()
+# launch omniverse app
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+from isaaclab.sim import SimulationCfg, SimulationContext
+
+
+def main():
+    """Main function."""
+
+    # Initialize the simulation context
+    sim_cfg = SimulationCfg(dt=0.01)
+    sim = SimulationContext(sim_cfg)
+    # Set main camera
+    sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
+
+    # Play the simulator
+    sim.reset()
+    # Now we are ready!
+    print("[INFO]: Setup complete...")
+
+    # Simulate physics
+    while simulation_app.is_running():
+        # perform step
+        sim.step()
+
+
+if __name__ == "__main__":
+    # run the main function
+    main()
+    # close sim app
+    simulation_app.close()

scripts/tutorials/00_sim/launch_app.py

@@ -0,0 +1,96 @@
+# Copyright (c) 2024-2025, The UW Lab Project Developers. (https://github.com/uw-lab/UWLab/blob/main/CONTRIBUTORS.md).
+# All Rights Reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""
+This script demonstrates how to run IsaacSim via the AppLauncher
+
+.. code-block:: bash
+
+    # Usage
+    ./isaaclab.sh -p scripts/tutorials/00_sim/launch_app.py
+
+"""
+
+"""Launch Isaac Sim Simulator first."""
+
+
+import argparse
+
+from isaaclab.app import AppLauncher
+
+# create argparser
+parser = argparse.ArgumentParser(description="Tutorial on running IsaacSim via the AppLauncher.")
+parser.add_argument("--size", type=float, default=1.0, help="Side-length of cuboid")
+# SimulationApp arguments https://docs.omniverse.nvidia.com/py/isaacsim/source/isaacsim.simulation_app/docs/index.html?highlight=simulationapp#isaacsim.simulation_app.SimulationApp
+parser.add_argument(
+    "--width", type=int, default=1280, help="Width of the viewport and generated images. Defaults to 1280"
+)
+parser.add_argument(
+    "--height", type=int, default=720, help="Height of the viewport and generated images. Defaults to 720"
+)
+
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
+args_cli = parser.parse_args()
+# launch omniverse app
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+import isaaclab.sim as sim_utils
+
+
+def design_scene():
+    """Designs the scene by spawning ground plane, light, objects and meshes from usd files."""
+    # Ground-plane
+    cfg_ground = sim_utils.GroundPlaneCfg()
+    cfg_ground.func("/World/defaultGroundPlane", cfg_ground)
+
+    # spawn distant light
+    cfg_light_distant = sim_utils.DistantLightCfg(
+        intensity=3000.0,
+        color=(0.75, 0.75, 0.75),
+    )
+    cfg_light_distant.func("/World/lightDistant", cfg_light_distant, translation=(1, 0, 10))
+
+    # spawn a cuboid
+    cfg_cuboid = sim_utils.CuboidCfg(
+        size=[args_cli.size] * 3,
+        visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 1.0, 1.0)),
+    )
+    # Spawn cuboid, altering translation on the z-axis to scale to its size
+    cfg_cuboid.func("/World/Object", cfg_cuboid, translation=(0.0, 0.0, args_cli.size / 2))
+
+
+def main():
+    """Main function."""
+
+    # Initialize the simulation context
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
+    sim = sim_utils.SimulationContext(sim_cfg)
+    # Set main camera
+    sim.set_camera_view([2.0, 0.0, 2.5], [-0.5, 0.0, 0.5])
+
+    # Design scene by adding assets to it
+    design_scene()
+
+    # Play the simulator
+    sim.reset()
+    # Now we are ready!
+    print("[INFO]: Setup complete...")
+
+    # Simulate physics
+    while simulation_app.is_running():
+        # perform step
+        sim.step()
+
+
+if __name__ == "__main__":
+    # run the main function
+    main()
+    # close sim app
+    simulation_app.close()