[Question] Is it possible to know the elapsed simulation time during training in Isaac Lab?

[H-Hisamichi]

Hello everyone,

I’m trying to create a Leg Trajectory Generator (LTG) for a Hexapod.
However, the elapsed time in the simulation differs from the time obtained using Python's time().
I searched the Isaac Lab API but couldn’t find a function to get the simulation time directly.
The only relevant tool I found was omni.isaac.lab.utils.timer.Timer, so I’m considering using it.

Does Isaac Lab have a straightforward way to access the simulation time?

Thank you!

[RandomOakForest]

There are a couple of examples that may be useful here. Please refer to this replicator doc, and this writer example. Thanks for posting this.