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isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
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[Question] How to get timestamp of the data? Is it directly related to physics dt? #836

Closed dhruvkm2402 closed 1 month ago

dhruvkm2402 commented 1 month ago

Question

Hello, I have an RL based task and I want to collect data at 10 Hz. My question is that how do I get timestamp of the data like in ROS? In my case, physics dt is 1/200 and decimation is 20. If my understanding is correct, the actions are being applied at 10 Hz. Similarly, If I'm collecting the data after the pre-physics step, Is it collecting the data at 10 Hz or at every simulation step?

Mayankm96 commented 1 month ago

You can get the episode length from the buffers and multiply that with dt to get the current "time-stamp" of the episode.

Does this answer your question?

dhruvkm2402 commented 1 month ago

Oh yes. That answers my question. Thank you for your help.