Isaac Read IMU Node

Node that reads out IMU linear acceleration, angular velocity and orientation data

Installation

To use this Node, you must enable omni.isaac.sensor in the Extension Manager.

Inputs

Name

Type

Description

Default

execIn

execution

The input execution port

imuPrim

bundle

Usd prim reference to the IMU prim

Outputs

Name

Type

Description

Default

execOut

execution

Output execution triggers when sensor has data

linAcc

vectord[3]

Linear acceleration IMU reading

[0.0, 0.0, 0.0]

angVel

vectord[3]

Angular velocity IMU reading

[0.0, 0.0, 0.0]

orientation

quatd[4]

Relative orientation as quaternion

[0.0, 0.0, 0.0, 1.0]