.. _isaac_sim_range_sensors: ======================================================= PhysX Range Sensors (Lidar, Ultrasonic, Generic Range) ======================================================= .. _isaac_sim_range_sensors_about: About ================== The :ref:`isaac_sim_range_sensors` Extension is used to simulate range-based sensors in |isaac-sim|. Use this extension to create range sensor prims in the :ref:`isaac_sim_glossary_stage`, set the parameters of that sensor, and query depth data from that sensor. This extension is enabled by default. If it is ever disabled, it can be re-enabled from the `Extension Manager <../../prod_extensions/prod_extensions/ext_extension-manager.html>`_ by searching for ``omni.isaac.range_sensor``. .. _isaac_sim_range_sensors_api_doc: API Documentation ================== See the |link_ext| for complete usage information. .. |link_ext| raw:: html API Documentation .. _isaac_sim_range_sensors_tutorials: Tutorials & Examples ===================== The following tutorials and examples showcase how to best use this extension: **Tutorials** - LIDAR Tutorial: :ref:`isaac_sim_app_tutorial_advanced_range_sensor_lidar` - Generic Range Sensor Tutorial: :ref:`isaac_sim_app_tutorial_advanced_range_sensor_generic` **Examples** - :ref:`isaac_sim_physx_lidar_example`: `Isaac Examples > Sensors > LIDAR` - :ref:`isaac_sim_generic_range_sensor_example`: `Isaac Examples > Sensors > Generic Range Sensor` - :ref:`isaac_sim_ultrasonic_sensor_example`: `Isaac Examples > Sensors > Ultrasonic` .. _isaac_sim_physx_lidar_example: LIDAR Example ^^^^^^^^^^^^^^^^^^^^^^^ To run the Example: #. Go to the top menu bar and click `Isaac Examples > Sensors > LIDAR`. #. Press the ``Load Sensor`` button. #. Press the ``Load Scene`` button. #. Press the `Open Source Code` button to view the source code. The source code illustrates how to add and control the sensor using the Python API. #. Press the ``PLAY`` button to begin simulating. .. image:: /content/images/isaac_tutorial_advanced_lidar_example.gif :align: center :height: 400 .. _isaac_sim_generic_range_sensor_example: Generic Range Sensor Example ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ To run the Example: #. Go to the top menu bar and click `Isaac Examples > Sensors > Generic Range Sensor`. #. Press the ``Load Sensor`` button. #. Press the ``Load Scene`` button. #. Press the ``Set Sensor Pattern`` button to load the example sensor pattern. #. Press the `Open Source Code` button to view the source code. The source code illustrates how to create, add, and control the sensor using the Python API. #. Press the ``PLAY`` button to begin simulating. .. image:: /content/images/isaac_tutorial_advanced_generic_sensor_example.gif :align: center :height: 400 .. _isaac_sim_ultrasonic_sensor_example: Ultrasonic Example ^^^^^^^^^^^^^^^^^^^^^^^ To run the Example: #. Go to the top menu bar and click `Isaac Examples > Sensors > Ultrasonic`. #. Press the ``Load Sensor`` button. #. Press the ``Load Scene`` button. #. Press the `Open Source Code` button to view the source code. The source code illustrates how to add and control the sensor using the Python API. #. Press the ``PLAY`` button to begin simulating. .. raw:: html