diff --git a/nodes/simulation/simulation/go2_scene.py b/nodes/simulation/simulation/go2_scene.py index b65152b..ef4d037 100644 --- a/nodes/simulation/simulation/go2_scene.py +++ b/nodes/simulation/simulation/go2_scene.py @@ -1,19 +1,20 @@ -import time import os +import time from dataclasses import dataclass, field from pathlib import Path + import carb.input import numpy as np import omni.kit.commands from isaacsim import SimulationApp from isaacsim.core.api import World +from isaacsim.core.prims import SingleXFormPrim from isaacsim.core.utils import stage as stage_utils from omni.isaac.core.utils.prims import get_prim_at_path -from isaacsim.core.prims import SingleXFormPrim from pxr import Gf, Sdf, UsdGeom +from usd_rerun_logger.usd_logger import UsdRerunLogger from simulation.camera_manager import CameraManager - from simulation.environments.pyramid import create_stepped_pyramid from simulation.environments.rails import create_rails from simulation.follow_camera import FollowCamera @@ -175,6 +176,8 @@ def __init__( window_size=200, update_interval=100 ) # 1-second window for 200Hz, update every 100 steps self.log_rtf = False + self._simulation_time = 0.0 + self.logger = None def initialize(self): self.world = World( @@ -215,6 +218,7 @@ def initialize_scene(self): self.world.reset() self.go2.reset() self.go2.initialize() + self._simulation_time = 0.0 if demo_config.robot_position is not None: # Set the initial robot position in every possible way. I'm confuesed how the reset prcedure works in Isaac, @@ -253,11 +257,16 @@ def initialize_scene(self): self.camera_manager.link_waypoint_mission(self.waypoint_mission) # TODO: find a better way to separate artefacts outputs per test run - self.camera_manager.start_writers( - output_dir=OUTPUT_DIR - / f"{self.current_scene.name}_{int(self.difficulty * 100)}", + run_dir = OUTPUT_DIR / f"{self.current_scene.name}_{int(self.difficulty * 100)}" + + self.logger = UsdRerunLogger( + self.world.stage, + save_path=str(run_dir / "simulation.rrd"), + application_id="go2-demo", ) + self.camera_manager.start_writers(output_dir=run_dir) + def load_next_scene(self): print("Loading next scene...") current_index = ( @@ -283,6 +292,7 @@ def reload_scene(self): self.load_scene(self.current_scene) def on_physics_step(self, step_size) -> None: + self._simulation_time += step_size rtf = self._rtf_calculator.step(step_size) if rtf is not None and self.log_rtf: print(f"Real-Time Factor (RTF): {rtf:.2f}") @@ 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