Replicator - Retrieve simulation time

Omniverse Synthetic Data Generation (SDG)
1

I run replicator from a headless Python script, instantiating a SimulationApp. I step through the simulation using rep.orchestrator.step(). I use a custom writer for ASAM OpenLabel. In order to provide a timestamp, I have to retrieve the simulation time inside the writer. I hope someone can give me some advice how I would approach this.

Thanks a lot
Bruno

2

You should be able to access the simulation time in the writer payload as reference_time

3

Thanks pcallender.

Could you explain what exactly the reference time represents? I have not found a lot of documentation on this. It looks something like this: (17, 30).

Looking into the Omniverse code, this seems to be numerator / denominator (but why?) and you can divide them. I thought this would represent the simulation time, but I am not sure.

It seems that the numerator seems to increment with the frame rate, but while this is by default set to 24, the denominator is 30 which confuses me.

Any advice?