protomotions.utils.simulator_imports module

Utility for conditionally importing simulator modules before torch.

IsaacGym and IsaacLab have a strict requirement that they must be imported before torch. This module provides a utility to handle that import order correctly.

protomotions.utils.simulator_imports.import_simulator_before_torch(simulator_name)

Conditionally import isaacgym or isaaclab based on the simulator name.

This must be called before any imports that might bring in torch (directly or transitively). Typically called right after parsing arguments.

Parameters:

simulator_name – Name of the simulator (‘isaacgym’, ‘isaaclab’, ‘newton’, ‘genesis’, etc.)

Returns:

AppLauncher class if simulator is ‘isaaclab’, None otherwise

Example

import argparse parser = argparse.ArgumentParser() parser.add_argument(”–simulator”, type=str, required=True) args = parser.parse_args()

from protomotions.utils.simulator_imports import import_simulator_before_torch AppLauncher = import_simulator_before_torch(args.simulator)

# Now safe to import torch import torch