IsaacLabRerunLogger¶

class IsaacLabRerunLogger(scene, logged_envs=0, recording_stream=None, save_path=None, application_id=None)[source]¶

Bases: object

Logs Isaac Lab scenes to Rerun.io for visualization.

This logger is specifically designed for Isaac Lab’s InteractiveScene, which contains articulations and rigid objects in a multi-environment setup. It reads body poses directly from Isaac Lab’s physics simulation data rather than from USD transforms, ensuring accurate visualization of the simulated scene.

The logger supports multi-environment Isaac Lab scenes and allows selecting which environment indices to log via the logged_envs parameter.

The recording stream can either be provided directly via recording_stream, or a new recording stream can be created that saves to save_path. If neither is provided, it will try to find it using rr.get_data_recording(). save_path takes precedence over recording_stream.

Parameters:

scene (InteractiveScene) – The Isaac Lab InteractiveScene to log. This scene contains the articulations and rigid objects that will be visualized.
logged_envs (int | list[int]) – Indices of environments to log (for multi-env Isaac Lab scenes). If an int, it is treated as a single environment index. If a list, those indices are logged. Defaults to 0 (the first environment).
recording_stream (RecordingStream | None) – The Rerun recording stream to use. Ignored if save_path is provided.
save_path (Path | str | None) – Path where the Rerun recording will be saved as an .rrd file. If provided, a new recording stream is created that saves to this path.
application_id (str | None) – Application ID for the Rerun recording. Used when creating a new recording stream (either via save_path or when falling back to a new stream).

scene¶

The Isaac Lab scene being logged.

Type:: InteractiveScene

recording_stream¶

The Rerun recording stream used for logging.

Type:: rr.RecordingStream

Notes

Body poses are read from Isaac Lab’s simulation data (body_pose_w), not from USD transforms. This is because Isaac Lab updates physics internally without reflecting changes in the USD stage transforms.
Visual geometry (meshes) is logged only once on first encounter and cached.
Transforms are only re-logged when they change between calls to log_scene().
Scale information is preserved from the original USD transforms.
Prims with purpose set to guide are skipped along with their children.

Examples

Log an Isaac Lab scene directly:

import rerun as rr
from usd_rerun_logger import IsaacLabRerunLogger

rr.init("isaac_lab_scene", spawn=True)
logger = IsaacLabRerunLogger(scene)
logger.log_scene()

Log multiple environments:

# Log environments 0, 1, and 2
logger = IsaacLabRerunLogger(scene, logged_envs=[0, 1, 2])
logger.log_scene()

Save the recording to a file:

logger = IsaacLabRerunLogger(scene, save_path="simulation.rrd")
logger.log_scene()

Continuous logging during simulation:

rr.init("simulation", spawn=True)
logger = IsaacLabRerunLogger(scene)

for step in range(1000):
    # Step the simulation
    scene.step()
    # Log current state - only changed transforms are re-logged
    rr.set_time_sequence("step", step)
    logger.log_scene()