From dc49451e853320d9549d988fd938bd2f1ce58878 Mon Sep 17 00:00:00 2001
From: MiaoDX <miaodx@hotmail.com>
Date: Mon, 20 Oct 2025 15:21:03 +0800
Subject: [PATCH] Save terminal output to files for easier debug

Signed-off-by: MiaoDX <miaodx@hotmail.com>
---
 scripts/rsl_rl/train.py | 38 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 38 insertions(+)

diff --git a/scripts/rsl_rl/train.py b/scripts/rsl_rl/train.py
index 4f760eb2..f9fc552f 100644
--- a/scripts/rsl_rl/train.py
+++ b/scripts/rsl_rl/train.py
@@ -117,6 +117,29 @@
 torch.backends.cudnn.benchmark = False
 
 
+class Tee:
+    """Duplicates output to both terminal and a log file."""
+
+    def __init__(self, file_path, mode="w", original_stream=None):
+        self.file = open(file_path, mode)
+        self.original_stream = original_stream
+
+    def write(self, message):
+        if self.original_stream:
+            self.original_stream.write(message)
+            self.original_stream.flush()
+        self.file.write(message)
+        self.file.flush()
+
+    def flush(self):
+        if self.original_stream:
+            self.original_stream.flush()
+        self.file.flush()
+
+    def close(self):
+        self.file.close()
+
+
 @hydra_task_config(args_cli.task, "rsl_rl_cfg_entry_point")
 def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agent_cfg: RslRlOnPolicyRunnerCfg):
     """Train with RSL-RL agent."""
@@ -154,6 +177,15 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
         log_dir += f"_{agent_cfg.run_name}"
     log_dir = os.path.join(log_root_path, log_dir)
 
+    # set up terminal output logging
+    os.makedirs(log_dir, exist_ok=True)
+    log_file_path = os.path.join(log_dir, "training.log")
+    stdout_tee = Tee(log_file_path, mode="w", original_stream=sys.stdout)
+    stderr_tee = Tee(log_file_path, mode="a", original_stream=sys.stderr)
+    sys.stdout = stdout_tee
+    sys.stderr = stderr_tee
+    print(f"[INFO] Terminal output is being logged to: {log_file_path}")
+
     # create isaac environment
     env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None)
 
@@ -208,6 +240,12 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
     # close the simulator
     env.close()
 
+    # restore original stdout/stderr and close log files
+    sys.stdout = stdout_tee.original_stream
+    sys.stderr = stderr_tee.original_stream
+    stdout_tee.close()
+    stderr_tee.close()
+
 
 if __name__ == "__main__":
     # run the main function