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Fix pre-commit checks and update VSCode configuration
### What change is being made - Fix pre-commit checks - Enable pre-commit in CI - Fix VSCode configuration such that C++ and Python should work OOTB ### Why this change is being made Enhance development experience (and align with changes of #102). ### Tested Waited CI to pass and tested locally in VSCode (a confirmation that it works also on reviewers setup would be great, since typically this is quite delicate). GitOrigin-RevId: 5e92331692bb6a6d74c1dd9528a4e47ba8d5a8de
1 parent 559484e commit 13fcf52

14 files changed

Lines changed: 613 additions & 224 deletions

‎.github/workflows/test.yml‎

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@@ -7,6 +7,7 @@ on:
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push:
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branches:
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- main
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workflow_dispatch:
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permissions:
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contents: read
@@ -38,12 +39,6 @@ jobs:
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- name: Run Tests
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run: pixi run test-python-core --capture=no
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- name: Run Python Linting
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run: pixi run lint-python
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- name: Check Python Formatting
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run: pixi run format-python-check
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test-controller:
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name: Test Controller Environment
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runs-on: ubuntu-22.04
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- name: Run Controller Tests
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run: pixi run test-cpp
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- name: Check Formatting
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run: pixi run format-cpp-check
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pre-commit:
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name: Pre-commit Hooks
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runs-on: ubuntu-22.04
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timeout-minutes: 20
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steps:
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- name: Checkout
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uses: actions/checkout@v6
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- name: Setup pixi
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uses: prefix-dev/setup-pixi@v0.9.4
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with:
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pixi-version: latest
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frozen: true
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cache: false
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- name: Run pre-commit Hooks
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run: pixi run pre-commit-ci

‎.pre-commit-config.yaml‎

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@@ -12,7 +12,7 @@ repos:
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hooks:
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# check for files > 1Mb on commit (ignores git-lfs tracked files)
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- id: check-added-large-files
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args: ['--enforce-all', '--maxkb', '1024']
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args: ["--enforce-all", "--maxkb", "1024"]
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# detect any unresolved merge conflicts remaining in files
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- id: check-merge-conflict
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# check that executable files have shebangs
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- id: check-toml
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# attempt to parse/load yaml files to verify they don't have obvious issues
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- id: check-yaml
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args: ['--allow-multiple-documents']
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args: ["--allow-multiple-documents"]
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# fix end of file inconsistencies caused by different editors
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- id: end-of-file-fixer
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# fix trailing whitespace in files of all types
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hooks:
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- id: insert-license
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files: (\.cpp|\.cc|\.c|\.hpp|\.h)$
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args: [--comment-style, //, --license-filepath, .copyright.txt, --allow-past-years, --use-current-year, --no-extra-eol]
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args:
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[
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--comment-style,
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//,
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--license-filepath,
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.copyright.txt,
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--allow-past-years,
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--use-current-year,
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--no-extra-eol,
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]
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- id: insert-license
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files: (\.sh|\.bash|\.py|CMakeLists\.txt|\.cmake|\.cmake\.in|\.yaml|\.yml|\.toml)$
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args: [--license-filepath, .copyright.txt, --allow-past-years, --use-current-year, --no-extra-eol]
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args:
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[
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--license-filepath,
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.copyright.txt,
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--allow-past-years,
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--use-current-year,
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--no-extra-eol,
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]
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- repo: https://github.com/igorshubovych/markdownlint-cli
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rev: v0.41.0
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hooks:
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- id: markdownlint
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args: [--fix] # apply simple fixes (and report as failure)
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args: [--fix] # apply simple fixes (and report as failure)
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# custom hook to run python linter/formatter
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- repo: local
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hooks:
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- id: lint-python-fix
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name: Run Python linter
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entry: pixi run -e python lint-python-fix
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name: run python linter
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entry: pixi
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args: [run, -e, ci, lint-python-fix]
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language: system
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types: [python]
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pass_filenames: false
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- repo: local
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hooks:
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- id: format-python
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name: Run Python formatter
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entry: pixi run -e python format-python
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name: run python formatter
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entry: pixi
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args: [run, -e, ci, format-python]
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language: system
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types: [python]
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pass_filenames: false
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- repo: local
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hooks:
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- id: format-cpp
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name: run C++ formatter
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entry: pixi
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args: [run, -e, ci, format-cpp]
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language: system
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types: [c++]
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pass_filenames: false

‎.vscode/c_cpp_properties.json‎

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// IntelliSense configuration.
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{
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"configurations": [
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{
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"name": "Linux",
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"includePath": [
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"${workspaceFolder}/**",
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"${env:CONDA_PREFIX}/include/**",
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"${env:CONDA_PREFIX}/include/c++/**",
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"${workspaceFolder}/control",
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"${workspaceFolder}/build"
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],
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"defines": [],
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"compilerPath": "${env:CONDA_PREFIX}/bin/g++",
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"cStandard": "c17",
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"cppStandard": "c++20",
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"intelliSenseMode": "linux-gcc-x64",
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"compileCommands": "${workspaceFolder}/build/compile_commands.json"
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}
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],
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"version": 4
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"configurations": [
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{
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"name": "Linux",
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"compilerPath": "${workspaceFolder}/.pixi/envs/cpp/bin/g++",
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"intelliSenseMode": "linux-gcc-x64",
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"compileCommands": [
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"${workspaceFolder}/build/control/compile_commands.json",
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"${workspaceFolder}/build/examples/controller/compile_commands.json"
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]
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}
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],
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"version": 4
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}

‎.vscode/extensions.json‎

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{
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"recommendations": [
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"ms-vscode.cpptools",
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"ms-vscode.cpptools-extension-pack",
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"ms-vscode.cmake-tools",
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"twxs.cmake",
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"ms-python.python",
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"charliermarsh.ruff",
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"lijian-onnx-viewer.onnxviewer",
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]
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"recommendations": [
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"charliermarsh.ruff",
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"lijian-onnx-viewer.onnxviewer",
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"ms-python.python",
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"ms-vscode.cpptools",
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"ms-vscode.cpptools-extension-pack",
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"ms-vscode.cmake-tools",
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"renan-r-santos.pixi-code",
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"twxs.cmake",
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]
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}

‎.vscode/launch.json‎

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{
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// Use IntelliSense to learn about possible attributes.
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// Hover to view descriptions of existing attributes.
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// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
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"version": "0.2.0",
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"configurations": [
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{
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"name": "[Examples] Export IsaacLab task.",
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"type": "debugpy",
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"request": "launch",
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"program": "${workspaceFolder}/examples/exporter_scripts/export_isaaclab.py",
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"console": "integratedTerminal",
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"python": "${workspaceFolder}/.pixi/envs/isaaclab/bin/python",
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"justMyCode": false
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},
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{
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"name": "[Core] Tests.",
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"type": "debugpy",
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"request": "launch",
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"module": "pytest",
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"args": [
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"exploy/exporter/core/tests/test_export_environment.py"
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],
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"console": "integratedTerminal",
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"python": "${workspaceFolder}/.pixi/envs/core/bin/python",
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"justMyCode": false,
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"env": {
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"PYTHONPATH": "${workspaceFolder}"
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}
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},
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]
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// Use IntelliSense to learn about possible attributes.
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// Hover to view descriptions of existing attributes.
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// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
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"version": "0.2.0",
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"configurations": [
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{
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"name": "[Examples] Export IsaacLab task.",
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"type": "debugpy",
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"request": "launch",
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"program": "${workspaceFolder}/examples/exporter_scripts/isaaclab/export_isaaclab.py",
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"console": "integratedTerminal",
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"python": "${workspaceFolder}/.pixi/envs/isaaclab/bin/python",
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"justMyCode": false
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},
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{
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"name": "[Core] Tests.",
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"type": "debugpy",
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"request": "launch",
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"module": "pytest",
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"args": [
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"${workspaceFolder}/python/exploy/exporter/core/tests/test_export_environment.py"
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],
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"console": "integratedTerminal",
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"python": "${workspaceFolder}/.pixi/envs/python/bin/python",
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"justMyCode": false,
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"env": {
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"PYTHONPATH": "${workspaceFolder}"
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}
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},
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]
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}

‎.vscode/settings.json‎

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{
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"C_Cpp.default.includePath": [
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"${workspaceFolder}/**",
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"${env:CONDA_PREFIX}/include/**",
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"${env:CONDA_PREFIX}/include/c++/**"
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],
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"C_Cpp.default.compilerPath": "${env:CONDA_PREFIX}/bin/g++",
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"C_Cpp.default.cppStandard": "c++17",
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"C_Cpp.default.intelliSenseMode": "linux-gcc-x64",
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"C_Cpp.default.compileCommands": "${workspaceFolder}/build/compile_commands.json",
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"files.associations": {
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"*.hpp": "cpp",
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"*.cpp": "cpp"
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},
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"cmake.sourceDirectory": "${workspaceFolder}",
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"cmake.buildDirectory": "${workspaceFolder}/build",
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"cmake.configureOnOpen": false,
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"python.defaultInterpreterPath": "${env:CONDA_PREFIX}/bin/python",
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// Format on save settings
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"editor.formatOnSave": true,
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"editor.formatOnPaste": true,
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"editor.formatOnType": false,
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// Language-specific formatters
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"[cpp]": {
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"editor.defaultFormatter": "ms-vscode.cpptools",
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"editor.formatOnSave": true
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},
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"[c]": {
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"editor.defaultFormatter": "ms-vscode.cpptools",
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"editor.formatOnSave": true
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},
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"[python]": {
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"editor.defaultFormatter": "charliermarsh.ruff",
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"editor.formatOnSave": true
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},
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// Editor consistency settings to match project standards
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"editor.rulers": [
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100
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],
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"editor.wordWrap": "off",
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"files.insertFinalNewline": true,
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"files.trimTrailingWhitespace": true,
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"files.trimFinalNewlines": true
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"files.associations": {
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"*.hpp": "cpp",
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"*.cpp": "cpp"
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},
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"files.exclude": {
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".ruff_cache/**": true,
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".pytest_cache/": true,
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},
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// "C_Cpp.loggingLevel": "Debug",
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"C_Cpp.intelliSenseEngine": "default",
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"cmake.sourceDirectory": "${workspaceFolder}",
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"cmake.buildDirectory": "${workspaceFolder}/build",
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"cmake.configureOnOpen": false,
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"python.defaultInterpreterPath": "${workspaceFolder}/.pixi/envs/python/bin/python",
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// Format on save settings
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"editor.formatOnSave": true,
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"editor.formatOnPaste": true,
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"editor.formatOnType": false,
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// Language-specific formatters
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"[cpp]": {
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"editor.defaultFormatter": "ms-vscode.cpptools",
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"editor.formatOnSave": true
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},
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"[c]": {
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"editor.defaultFormatter": "ms-vscode.cpptools",
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"editor.formatOnSave": true
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},
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"[python]": {
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"editor.defaultFormatter": "charliermarsh.ruff",
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"editor.formatOnSave": true
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},
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// Editor consistency settings to match project standards
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"editor.rulers": [
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100
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],
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"editor.wordWrap": "off",
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"files.insertFinalNewline": true,
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"files.trimTrailingWhitespace": true,
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"files.trimFinalNewlines": true,
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"python.languageServer": "Pylance",
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"python.analysis.languageServerMode": "full",
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"python.analysis.generateWithTypeAnnotation": true,
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"python.analysis.inlayHints.pytestParameters": true,
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"python.analysis.inlayHints.functionReturnTypes": true,
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"python-envs.pythonProjects": [
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{
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"path": ".",
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"envManager": "renan-r-santos.pixi-code:pixi",
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"packageManager": "renan-r-santos.pixi-code:pixi"
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}
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],
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"python.analysis.extraPaths": [
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"${workspaceFolder}/.pixi/envs/isaaclab/lib/python3.11/site-packages/isaaclab/source/isaaclab",
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"${workspaceFolder}/.pixi/envs/isaaclab/lib/python3.11/site-packages/isaaclab/source/isaaclab_rl",
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"${workspaceFolder}/.pixi/envs/isaaclab/lib/python3.11/site-packages/isaaclab/source/isaaclab_tasks",
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"${workspaceFolder}/.pixi/envs/isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.utils",
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"${workspaceFolder}/.pixi/envs/isaaclab/lib/python3.11/site-packages",
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]
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}

‎docs/tutorial/controller/controller_tutorial.md‎

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@@ -441,7 +441,7 @@ Suppose your model has an input tensor named `custom.planner.output` of shape
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The built-in matchers ignore tensors with the `custom.*` prefix, so you need a
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custom matcher.
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**Step 1 — define an interface for your data source**
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#### Step 1 — define an interface for your data source
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```cpp
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// Your own header — no dependency on exploy.
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456456
};
457457
```
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**Step 2 — implement `Input`**
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#### Step 2 — implement `Input`
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461461
```cpp
462462
#include "exploy/components.hpp" // Input, OnnxRuntime
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};
500500
```
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**Step 3 — implement `Matcher`**
502+
#### Step 3 — implement `Matcher`
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The matcher uses the `custom.<type>.<name>` pattern. The regex captures the
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type segment (group 1) and the name segment (group 2). Here the matcher
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};
547547
```
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**Step 4 — register the matcher before `controller.create()`**
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#### Step 4 — register the matcher before `controller.create()`
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551551
```cpp
552552
MyMotionPlanner planner; // implements PlannerInterface

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