If you have installed PasteScript before installing Staple, you will be able to initialise a new staple environment using a paster template...
$ paster create -t staple my_site
$ cd my_site && cat README.txt
To create a template directory based on a series of urls taken from a configuration file you can run...
$ echo "/home.html" >> urls.config
$ echo "/about.html" >> urls.config
$ staple generate templates urls.config
...
$ ls templates
about.html home.html master.layout
$ staple publish -o htdocs/ templates/
$ ls htdocs/
about.html home.html