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

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.