[Question] Best Strategy for Real Robot Codebase Reuse

[dHonerkamp]

Question

Hi everyone, I'm very excited to see the framework mature and get easier and easier to use.

I'm trying to port my code to the isaaclab format. At the same time, I want to reuse important parts of the code for the real world robot environments.

But to use even the config objects (e.g. from omni.isaac.lab.assets.articulation.articulation_cfg importArticulationCfg), python tries to import omni.isaac.core. This fails unless I start the simulator (app_launcher = AppLauncher(args_cli); simulation_app = app_launcher.app). But for obvious reasons I do not want to start the simulator when working with the real robot.

Do you have any tips on what the best method is to import or use these parts of the code without starting the simulator? Or any tips on how you structure your real world code without duplicating all configs etc.?