File size: 2,440 Bytes
406662d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
This script demonstrates how to generate log outputs while the simulation plays.
It accompanies the tutorial on docker usage.
.. code-block:: bash
# Usage
./isaaclab.sh -p scripts/tutorials/00_sim/log_time.py
"""
"""Launch Isaac Sim Simulator first."""
import argparse
import os
from isaaclab.app import AppLauncher
# create argparser
parser = argparse.ArgumentParser(description="Tutorial on creating logs from within the docker container.")
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
from isaaclab.sim import SimulationCfg, SimulationContext
def main():
"""Main function."""
# Specify that the logs must be in logs/docker_tutorial
log_dir_path = os.path.join("logs")
if not os.path.isdir(log_dir_path):
os.mkdir(log_dir_path)
# In the container, the absolute path will be
# /workspace/isaaclab/logs/docker_tutorial, because
# all python execution is done through /workspace/isaaclab/isaaclab.sh
# and the calling process' path will be /workspace/isaaclab
log_dir_path = os.path.abspath(os.path.join(log_dir_path, "docker_tutorial"))
if not os.path.isdir(log_dir_path):
os.mkdir(log_dir_path)
print(f"[INFO] Logging experiment to directory: {log_dir_path}")
# Initialize the simulation context
sim_cfg = SimulationCfg(dt=0.01)
sim = SimulationContext(sim_cfg)
# Set main camera
sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
# Play the simulator
sim.reset()
# Now we are ready!
print("[INFO]: Setup complete...")
# Prepare to count sim_time
sim_dt = sim.get_physics_dt()
sim_time = 0.0
# Open logging file
with open(os.path.join(log_dir_path, "log.txt"), "w") as log_file:
# Simulate physics
while simulation_app.is_running():
log_file.write(f"{sim_time}" + "\n")
# perform step
sim.step()
sim_time += sim_dt
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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