Is there a simple example for implementing a custom robot and task in Isaac Sim?

Omniverse Isaac Sim
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Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
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Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
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Topic Description

Hi everyone,

I am working on implementing a custom robot and controller in Isaac Sim. I am currently using simple_stack.py as a reference, but I find it difficult to modify because the controller and task settings are defined across multiple files.

I am looking for the simplest example that shows how to implement a robot, controller, and task in one place. Does such an example exist?

Thank you!