Transfer to another simulation or real robotics #48

Hi there! I am working on using VR to collect data from simulation environment and real robotics. But I am a beginner, which means it is a little bit difficult for me to do this. So I want to ask for some advice. Here is my question:

1. If I want to transfer this code from issac gym to mujoco, which part of the code should I focus and edit?
2. My initial link is: VR runs a software that publish the data from ROS node, and the upper computer receives the data from VR and invokes the SDK of the robot, meanwhile publish the visual data to VR. If I want to do this, can I refer to this code? Or if there is any open source library that can accelerate my development?

If you are doing the same thing, welcome to communicate together!