How can I reuse the python code worked on isaac sim in the jetson board being developed based on ROS?

Hi
I have a question about the continuity of development with isaac sim and jetson board.

RMPflow lib (omni.isaac.motion_generation) is used for motion generation in isaac sim.
If I have created a custom robot in isaac sim and created motions using the RMPFlow library, how can I reuse the python code I worked on in isaac sim?

I would like to port the motion code with this library to a real jetson board that works on ROS basis.

Can you suggest some good tutorials?

I would be interested in a similar problem… I have implemented a simulation with a universal robot and the RMPflow algorithm in Isaac Sim, which works quite well.

My question now is how to best implement the RMPflow motion policy in a real robot. Have you found any possible solutions?

Thanks a lot

Hi @robin-vetsch - You can explore the Isaac Cortex documentation as a starting point.https://docs.omniverse.nvidia.com/isaacsim/latest/tutorial_cortex_1_overview.html