how to port existing async isaacsim omniverse code to isaaclab?

[sasasqt]

Hi, any best practices/examples available for porting existing aynschronuous isaacsim omniverse code to isaaclab?

[RandomOakForest]

Thanks for posting this. We would like to have a better idea of which APIs are you looking into. If you are referring about how to step the app, the tutorials such as this one have an example of how this is done.

[sasasqt]

thx for the reply,

to be specific, i want know the best practice of how to port the extension async workflow, which is based on the iscaacsim omniverse's stateful example omni.isaac.examples.base_sample , to isaaclab:
the example codes are like these two:
ISAAC-SIM-4.2.0\extension_examples\follow_target\follow_target_extension.py
ISAAC-SIM-4.2.0\extension_examples\follow_target\follow_target.py

should i just simply rename all async calls to sync one? like async def eval_async() -> def eval(); world.play_async() -> world.play()?

currently i used some hacky way to run my async extension isaacsim codes to be close to isaaclab:

async def eval_async(cls,...,ckpt_name,cfg,simulation_app):
   cls.sim_app=simulation_app
    ...
    await cls._setup_async()
    cls._post_setup()
    await cls._start_async(**kwargs) # where some functions are added to the world.physics_callback in the event loop

@hydra.main(...)
def main(cfg):
    asyncio.ensure_future(eval_async(ckpt_paths,agent,cfg))
    while simulation_app.is_running():
        simulation_app.update()
    simulation_app.close()

to be more concrete: let say i have the following code, should i convert it to synchronous version or does isaaclab also support async? or do i need to write completely new codes for isaaclab?

    async def setup_post_load(self):
        self._franka_task = list(self._world.get_current_tasks().values())[0]
        self._task_params = self._franka_task.get_params()
        my_franka = self._world.scene.get_object(self._task_params["robot_name"]["value"])
        self._controller = RMPFlowController(name="target_follower_controller", robot_articulation=my_franka)
        self._articulation_controller = my_franka.get_articulation_controller()
        return

    async def _on_follow_target_event_async(self, val):
        world = self.get_world()
        if val:
            await world.play_async()
            world.add_physics_callback("sim_step", self._on_follow_target_simulation_step)
        else:
            world.remove_physics_callback("sim_step")
        return
   
    ...
    @classmethod
    def tearDown(cls,window_name: str = "Default"):
        asyncio.ensure_future(super().tearDown_async())
        cls.unbind_inputs()

    @classmethod
    def on_clear(cls,callback_fn=None):
        async def _on_clear_async(callback_fn=None):
            cls.init_buttons()
            await cls.tearDown_async(callback_fn=callback_fn)
        asyncio.ensure_future(_on_clear_async(callback_fn))