launch.json

{
    "configurations": [
        {
            "name": "Python: Current File",
            "type": "python",
            "request": "launch",
            "program": "${file}",
            "console": "integratedTerminal",
            "env": {
                "ISAAC_PATH": "${config:ISAAC_SIM_PATH}",
                "CARB_APP_PATH": "${config:ISAAC_SIM_PATH}/kit",
                "EXP_PATH": "${config:ISAAC_SIM_PATH}/apps",
                "RESOURCE_NAME": "IsaacSim"
            },
            "python": "${config:ISAAC_SIM_PATH}/kit/python/python.exe",
            "envFile": "${workspaceFolder}/.vscode/setup_python.env",
            "preLaunchTask": "setup_python_env",
            "args": [
                "--/persistent/isaac/asset_root/default=\"omniverse://my_server\""
            ],
        },
        {
            "name": "Python: Attach (local)",
            "type": "python",
            "request": "attach",
            "port": 3000,
            "host": "127.0.0.1"
        },
        {
            "name": "Python: Attach (cloud)",
            "type": "python",
            "request": "attach",
            "port": 3000,
            "host": "{config:CLOUD_IP}"
        },
    ]
}