How can I control a mobile robot using action graph from Python script?

[Robotawi]

Hello,

I created an action graph using Isaac Sim GUI to control a mobile robot with a keyboard. Now, I want to start the action graph from the same Python script in which I am loading the robot. USD and world.USD files. How can I do this?

I have a related question. Can we save an action graph created via GUI and use it from the Python script?

How can I read some keyboard keys when using the Python script if not?

I think building a graph in code cancels all advantages that come with visual programming. I hope this is not the case, but please tell me because I am almost stuck.

Thank you.

[Hammad_M]

You can save the action graph to usd and load that usd file (or add it as a reference) in your python script

[Robotawi]

Thanks, @Hammad_M!

Do you know how I solved it?
I exported the graph, then included it in the robot’s USD. It looks like a reasonable package because the graph is for controlling the robot wheels.

I still want to know how to do that in code (adding an action graph)

world.scene.add('''What type should go here for the action graph?''')

or should it be similar to

add_reference_to_stage(usd_path=graph_path, prim_path="/World/actiongraph")

Edit: if you think I am not using things the way they were designed, feel free to correct me.

Thanks again!

[Hammad_M]

Great!
this is the way I would recommend:

@Robotawi

add_reference_to_stage(usd_path=graph_path, prim_path="/World/actiongraph")