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Development Setup

Optional tooling for working in the repository. None of it is required to run AM-Bench; see Installation for that.

VSCode

Press Ctrl+Shift+P, select Tasks: Run Task, and run setup_python_env. You will be prompted for the absolute path to your Isaac Sim installation. This writes .vscode/.python.env with the Python paths for all Isaac Sim and Omniverse extensions, which enables module indexing and completion.

For better code analysis, add the Isaac Lab sources to "python.analysis.extraPaths" in .vscode/settings.json:

"python.analysis.extraPaths": [
    "${workspaceFolder}/../IsaacLab/source/isaaclab",
    "${workspaceFolder}/../IsaacLab/source/isaaclab_assets",
    "${workspaceFolder}/../IsaacLab/source/isaaclab_mimic",
    "${workspaceFolder}/../IsaacLab/source/isaaclab_rl",
    "${workspaceFolder}/../IsaacLab/source/isaaclab_tasks",
]

Code formatting

This repository uses pre-commit to format code automatically:

uv pip install pre-commit
pre-commit run --all-files

CODING_STYLE.md is the enforced style guide, and AGENTS.md describes the repository conventions.

Building the documentation

Public documentation source lives in docs/ and is built with Zensical. To preview the site locally, install the pinned version in the same Isaac Lab environment:

source ../IsaacLab/env_isaaclab/bin/activate
uv pip install "zensical==0.0.58"
zensical serve

Then open http://127.0.0.1:8000/docs/.

Simulator performance

See the Isaac Sim Performance Optimization Handbook for CPU governor settings. On a discrete NVIDIA GPU, also check the power mode, performance state, and persistence service, plus any power settings specific to your machine.

Before starting GPU-heavy work, run nvidia-smi to check available memory and active processes. Prefer one small environment at a time; overlapping heavy simulator jobs can exhaust VRAM.