simulation/modules/IsaacLab/.vscode/tools/setup_vscode.py

# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""This script sets up the vs-code settings for the Isaac Lab project.

This script merges the python.analysis.extraPaths from the "{ISAACSIM_DIR}/.vscode/settings.json" file into
the ".vscode/settings.json" file.

This is necessary because Isaac Sim 2022.2.1 onwards 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 subprocess
import sys
import os
import pathlib


ISAACLAB_DIR = pathlib.Path(__file__).parents[2]
"""Path to the Isaac Lab directory."""

# Try to find IsaacSim dir
_isaacsim_probe = subprocess.run(
    [sys.executable, "-c", "import isaacsim; import os; print(os.environ.get('ISAAC_PATH', ''))"],
    capture_output=True,
    text=True,
    check=False,
    # avoid EULA prompt
    stdin=subprocess.DEVNULL,
)
if _isaacsim_probe.returncode == 0 and _isaacsim_probe.stdout.strip():
    isaacsim_dir = _isaacsim_probe.stdout.strip()
else:
    isaacsim_dir = os.path.join(ISAACLAB_DIR, "_isaac_sim")

# check if the isaac-sim directory exists
if not os.path.exists(isaacsim_dir):
    print(
        f"[WARN] Could not find the isaac-sim directory: {isaacsim_dir}."
        "\n\tIsaac Sim does not appear to be installed. VS Code settings will be generated"
        "\n\twithout Isaac Sim extra paths."
    )
    isaacsim_dir = ""

ISAACSIM_DIR = isaacsim_dir
"""Path to the isaac-sim directory."""


def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
    """Overwrite the python.analysis.extraPaths in the Isaac Lab settings file.

    The extraPaths are replaced with the path names from the isaac-sim settings file that exists in the
    "{ISAACSIM_DIR}/.vscode/settings.json" file.

    If the isaac-sim settings file does not exist, the extraPaths are not overwritten.

    Args:
        isaaclab_settings: The settings string to use as template.

    Returns:
        The settings string with overwritten python analysis extra paths.
    """
    # isaac-sim settings
    isaacsim_vscode_filename = os.path.join(ISAACSIM_DIR, ".vscode", "settings.json")

    # we use the isaac-sim settings file to get the python.analysis.extraPaths for kit extensions
    # if this file does not exist, we will not add any extra paths
    if ISAACSIM_DIR and os.path.exists(isaacsim_vscode_filename):
        # 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]

        # read the path names from the isaac-sim settings file
        path_names = settings.split(",")
        path_names = [path_name.strip().strip('"') for path_name in path_names]
        path_names = [path_name for path_name in path_names if len(path_name) > 0]

        # change the path names to be relative to the Isaac Lab directory
        rel_path = os.path.relpath(ISAACSIM_DIR, ISAACLAB_DIR)
        path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
    else:
        path_names = []

    # add the path names that are in the Isaac Lab extensions directory
    isaaclab_extensions = os.listdir(os.path.join(ISAACLAB_DIR, "source"))
    path_names.extend(['"${workspaceFolder}/source/' + ext + '"' for ext in isaaclab_extensions])

    # combine them into a single string
    path_names = ",\n\t\t".expandtabs(4).join(path_names)
    # deal with the path separator being different on Windows and Unix
    path_names = path_names.replace("\\", "/")

    # replace the path names in the Isaac Lab settings file with the path names parsed
    isaaclab_settings = re.sub(
        r"\"python.analysis.extraPaths\": \[.*?\]",
        '"python.analysis.extraPaths": [\n\t\t'.expandtabs(4) + path_names + "\n\t]".expandtabs(4),
        isaaclab_settings,
        flags=re.DOTALL,
    )
    # return the Isaac Lab settings string
    return isaaclab_settings


def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
    """Overwrite the default python interpreter in the Isaac Lab settings file.

    The default python interpreter is replaced with the path to the python interpreter used by the
    isaac-sim project. This is necessary because the default python interpreter is the one shipped with
    isaac-sim.

    Args:
        isaaclab_settings: The settings string to use as template.

    Returns:
        The settings string with overwritten default python interpreter.
    """
    # read executable name
    python_exe = sys.executable.replace("\\", "/")

    # We make an exception for replacing the default interpreter if the
    # path (/kit/python/bin/python3) indicates that we are using a local/container
    # installation of IsaacSim. We will preserve the calling script as the default, python.sh.
    # We want to use python.sh because it modifies LD_LIBRARY_PATH and PYTHONPATH
    # (among other envars) that we need for all of our dependencies to be accessible.
    if "kit/python/bin/python3" in python_exe:
        return isaaclab_settings
    # replace the default python interpreter in the Isaac Lab settings file with the path to the
    # python interpreter in the Isaac Lab directory
    isaaclab_settings = re.sub(
        r"\"python.defaultInterpreterPath\": \".*?\"",
        f'"python.defaultInterpreterPath": "{python_exe}"',
        isaaclab_settings,
        flags=re.DOTALL,
    )
    # return the Isaac Lab settings file
    return isaaclab_settings


def main():
    # Isaac Lab template settings
    isaaclab_vscode_template_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "settings.template.json")
    # make sure the Isaac Lab template settings file exists
    if not os.path.exists(isaaclab_vscode_template_filename):
        raise FileNotFoundError(
            f"Could not find the Isaac Lab template settings file: {isaaclab_vscode_template_filename}"
        )
    # read the Isaac Lab template settings file
    with open(isaaclab_vscode_template_filename) as f:
        isaaclab_template_settings = f.read()

    # overwrite the python.analysis.extraPaths in the Isaac Lab settings file with the path names
    isaaclab_settings = overwrite_python_analysis_extra_paths(isaaclab_template_settings)
    # overwrite the default python interpreter in the Isaac Lab settings file with the path to the
    # python interpreter used to call this script
    isaaclab_settings = overwrite_default_python_interpreter(isaaclab_settings)

    # 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: {isaaclab_vscode_template_filename}\n"
    )
    isaaclab_settings = header_message + isaaclab_settings

    # write the Isaac Lab settings file
    isaaclab_vscode_filename = os.path.join(ISAACLAB_DIR, ".vscode", "settings.json")
    with open(isaaclab_vscode_filename, "w") as f:
        f.write(isaaclab_settings)

    # copy the launch.json file if it doesn't exist
    isaaclab_vscode_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "launch.json")
    isaaclab_vscode_template_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "launch.template.json")
    if not os.path.exists(isaaclab_vscode_launch_filename):
        # read template launch settings
        with open(isaaclab_vscode_template_launch_filename) as f:
            isaaclab_template_launch_settings = f.read()
        # add header
        header_message = header_message.replace(
            isaaclab_vscode_template_filename, isaaclab_vscode_template_launch_filename
        )
        isaaclab_launch_settings = header_message + isaaclab_template_launch_settings
        # write the Isaac Lab launch settings file
        with open(isaaclab_vscode_launch_filename, "w") as f:
            f.write(isaaclab_launch_settings)


if __name__ == "__main__":
    main()