Sensor Assets

Omniverse Isaac Sim also supports many realistic sensors modules, such as stereo cameras, lidars, and more.

RGBD Sensors

Leopard Imaging

Hawk Stereo Camera

The Hawk stereo camera (LI-AR0234CS-STEREO-GMSL2-30) from Leopard Imaging consists of two OnSemi AR0234CS RGB image sensors and a 6-axis IMU, both are simulated in the Omniverse Isaac Sim.

Hawk Sensor — Asset Path: `/Isaac/Sensors/LeopardImaging/Hawk/hawk_v1.1_nominal.usd`

Features and Specification

Camera Features
Features	Hawk
FOV	FOV (121.5H by 73.5V)
Resolution	1920 by 1200
Frame rate	60 fps
Aperture, F/#	f2.0
Focal Length	2.8 mm
Waterproof	IP65
Working Distance	1.0 to 8.0m

Other Features

Dimensions: 180 mm (length) by 44.33 mm (depth) by 25.0 mm (height)
Operating Temperature: -20C to 50C

IMU to Hawk sensor (left camera) transformation in Isaac Sim

IMU Sensor transformation
Transformation	x	y	z
Rotation (degrees)	0.0	90	0.0
Translation (meters)	0.0	-0.0947	0.0061

Note

For the datasheet and full list of specifications, visit the Hawk stereo camera product page and purchase here.

Owl Fisheye camera

The Owl camera (LI-AR0234CS-GMSL2-OWL) from Leopard Imaging consists of a 2.3MP OnSemi AR0234CS RGB image sensor, capable of producing crisp images in low-light and bright scenes.

Owl Sensor — Asset Path: `/Isaac/Sensors/LeopardImaging/Owl/owl.usd`

Features and Specification

Camera Features
Features	Hawk
FOV	FOV (202.0H by 127.2)
Resolution	1920 by 1200
Frame rate	120 fps
Aperture, F/#	f2.0
Focal Length	1.35 mm

Other Features

Dimensions: 50 mm (length) by 37.63 mm (depth) by 25.0 mm (height)
Operating Temperature: -20C to 50C

Note

For full list of specifications, visit the product page ,and the owl cameras can be purchased here.

Intel

Intel Realsense D455

The Intel Realsense Depth Camera D455 consists of multiple RGB and depth image sensors and a 6-axis IMU, simulated in Omniverse Isaac Sim.

Intel Realsense Sensor — Asset Path: `/Isaac/Sensors/intel/RealSense/rsd455.usd`

Features and Specification

Camera Features
Features	RGB Sensor	Depth Sensor
FOV	FOV (90H by 65V)	FOV (87H by 58V)
Resolution	1280 by 800	1280 by 720
Frame rate	30 fps	up to 90 fps

Other Features

Dimensions: 124 mm (length) by 25 mm (depth) by 29 mm (height)
IMU: Bosch BM1055
Ideal Range: 0.6m to 6m
Minimum Depth Distance at Max resolution: 52cm
Depth accuracy: under 2% at 4m

Note

For the datasheet and full list of specifications, visit the D455 product page.

Orbbec

Orbbec Gemini 2 (Certified by Orbbec)

The Orbbec Gemini 2 is a depth camera based on Active Stereo IR technolgy.

Features and Specification

Camera Features
Features	RGB Sensor	Depth Sensor
FOV	FOV (86H by 55V)	FOV (91H by 66V)
Resolution	1920 by 1080	1280 by 800
Frame rate	30 fps	30 fps

Other Features

Dimensions: 90 mm (length) by 25 mm (depth) by 30 mm (height)
IMU supported with multi camera synchronization
Ideal Range: 0.15m to 10m
Depth accuracy: under 2% at 2m

Note

For the datasheet and full list of specifications, visit the Gemini 2 product page.

Orbbec Femto Mega (Certified by Orbbec)

The Orbbec Femto Mega is a programmable multi-mode Depth and RGB camera.

Features and Specification

Camera Features
Features	RGB Sensor	Wide Depth Sensor mode	Narrow Depth Sensor mode
FOV	FOV (86H by 55V)	FOV (120H by 120V)	FOV (75H by 65V)
Resolution	3840 by 2160	1024 by 1024	640 by 576
Frame rate	30 fps	15 fps	30 fps

Other Features

Dimensions: 115mm (length) by 145 mm (depth) by 40mm (height)
IMU supported
Ideal Range: 0.25m to 5.46m
Depth accuracy: under 11mm + 0.1% distance

Note

For the datasheet and full list of specifications, visit the Femto Mega product page.

Sensing

SG2-OX03CC-5200-GMSL2F-Hxxx Series Camera (Certified by Sensing)

SG2-OX03CC-5200-GMSL2F-H100F1 and SG2-OX03CC-5200-GMSL2F-H60YA from the SG2-OX03CC-5200-GMSL2F-Hxxx Series are 2 megapixels high performance automotive camera modules, primarily used for ADAS, HDR imaging functionalities.

Asset Path: /Isaac/Sensors/Sensing/Camera_SG2_OX03CC_5200_GMSL2_H100F1.usd

Asset Path: /Isaac/Sensors/Sensing/Camera_SG2_OX03CC_5200_GMSL2_H60YA.usd

Features and Specification

Camera Features
Features	H100F1	H60YA
FOV	FOV (100H by 53V)	FOV (60H by 32V)
Resolution	1920 by 1080	1920 by 1080
Aperture, F/#	f1.6	f1.6
Effective Focal Length	3.55 mm	5.8 mm
Waterproof	IP67	IP67

Other Features

Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)
Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG2-OX03CC-5200-GMSL2F-Hxxx series product page.

SG3-ISX031C-GMSL2F-H190X (Certified by Sensing)

SG3-ISX031C-GMSL2F-H190X is a 3 megapixels automotive camera for automotive surround view.

Asset Path: /Isaac/Sensors/Sensing/Camera_SG3-ISX031C-GMSL2F-H190X.usd

Features and Specification

Camera Features
Features	H190X
FOV	FOV (196H by 154V)
Resolution	1920 by 1536
Frame rate	30 fps
Aperture, F/#	f2.0
Effective Focal Length	1.51 mm
Waterproof	IP67

Other Features

Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)
Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG3-ISX031C-GMSL2F-H190X product page.

SGt-IMX490C-5300-GMSL2-H110SA (Certified by Sensing)

SGt-IMX490C-5300-GMSL2-H110SA is a 5 megapixels automotive camera for automotive surround view, ADAS and viewing fusion.

Asset Path: /Isaac/Sensors/Sensing/Camera_SGt-IMX490C-5300-GMSL2-H110SA.usd

Features and Specification

Camera Features
Features	H110SA
FOV	FOV (114H by 74V)
Resolution	2880 by 1860
Aperture, F/#	f2.8
Effective Focal Length	4.3 mm
Waterproof	IP67

Other Features

Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)
Operating Temperature: -40C to 85C
Multi camera synchronization support

Note

For the datasheet and full list of specifications, visit the SGt-IMX490C-5300-GMSL2-H110SA product page.

SG8-AR820C-5300-GMSL2 Series Cameras (Certified by Sensing)

SG8-AR820C-5300-GMSL2 series cameras are 4k high performance automotive grade cameras, that support advanced on sensor HDR and multi-camera synchronization.

Asset Path: /Isaac/Sensors/Sensing/Camera_SG8-AR820C-5300-GMSL2-H120Y1A.usd

Asset Path: /Isaac/Sensors/Sensing/Camera_SG8-AR820C-5300-GMSL2-H30S1A.usd

Asset Path: /Isaac/Sensors/Sensing/Camera_SG8-AR820C-5300-GMSL2-H60SA.usd

Features and Specification

Camera Features
Features	H120Y1A	H30S1A	H60SA
FOV	FOV (120H by 55V)	FOV (30H by 16V)	FOV (60H by 33V)
Resolution	3840 by 2160	3840 by 2160	3840 by 2160
Frame rate	30 fps	30 fps	30 fps

Other Features

Dimensions: 40 mm (length) by 23 mm (depth) by 40 mm (height)
Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG8-AR820C-5300-GMSL2 series cameras product page.

Stereolabs

ZED X (Certified by Stereolab)

The ZED X stereo camera from Stereolabs consists of two 1200p 60fps RGB image sensors and a 6-axis IMU, all simulated in the Omniverse Isaac Sim.

Zed X Sensor — Asset Path: `/Isaac/Sensors/Stereolabs/ZED_X.usd`

Features and Specification

Camera Features
Features	ZED X standard	ZED X 4mm
FOV	FOV (110H by 80V by 120D)	FOV (80H by 52V by 91D)
Resolution	1920 by 1200	1920 by 1200
Frame rate	60 fps	60 fps
Aperture, F/#	f2.2	f1.8
Focal Length	2.2 mm	3.8 mm
Waterproof	IP66	IP66
Working Distance	0.3 m to 20 m	1 m to 35 m

Other Features

Dimensions: 163.4 mm (length) by 31.8 mm (depth) by 36.7 mm (height)
Operating Temperature: -20C to 55C

Note

For the datasheet and full list of specifications, visit the ZED X datasheet, for usage in isaac sim, see Stereolabs Documentation.

Lidar Sensors

HESAI

XT-32

XT-32 is a high precision, 32 Channels 360 degrees spinning mid range lidar.

Asset Path: /Isaac/Sensors/Pandar/XT-32.usd

Features and Specification

XT-32 Features
Features	XT-32
FOV	31 degrees (-16 to 15)
FOV Horizontal	360 degrees
Resolution	0.18’ @ 10 hz Horizontal, 1’ vertical
Range	0.05 m to 120 m
Precision	0.5 cm at 1 std-dev
Accuracy	+-1 cm
Point Rate	640000 pts/s @ Single return

Other Features

Dimensions: 100 mm (Top Diameter) by 103 mm (Bottom Diameter) by 76.0 mm (Height)

Note

For the datasheet and full list of specifications, visit the XT-32 product page.

Ouster

Ouster OS0 128 Channels Lidar

Ouster OS0 128 Channels lidar is a high precision lidar for autonomous vehilces, heavy machinery, robot and ampping solutions. Omniverse Isaac Sim has several pre-configured frequencies and resolutions that can be added to the stage easily.

create OS0 lidar — To create the sensor: *Create>Sensors>RTX Lidar>HESAI>OS0 128 Frequency @ Resolution*

Features and Specification

OS0 Features
Features	OS0
FOV Vertical	90 degrees (-45 to 45)
FOV Horizontal	360 degrees
Rotation Rate	10 or 20 hz (configurable)
Range Resolution	0.1 cm
Range	0.5 m to 100 m
Accuracy	2.5 cm (Mean Range Error)
Precision	Min: +- 0.8 cm, Max +- 4cm
Point Rate	5.2 Million pts/s @ Single return

Other Features

Dimensions: 87 mm (Diameter) by 58.35 mm (Height). With thermal cap, height is 74.2 mm.
IMU supported: InvenSense IAM-20680HT

Note

For the datasheet and full list of specifications, visit the OS0 product page.

Ouster OS1 32 Channels Lidar

Ouster OS1 32 Channels lidar is a high precision lidar for autonomous vehilces, heavy machinery, robot and ampping solutions. Omniverse Isaac Sim has several pre-configured frequencies and resolutions that can be added to the stage easily.

create OS1 lidar — To create the sensor: *Create>Sensors>RTX Lidar>HESAI>OS1 32 Frequency @ Resolution*

Features and Specification

OS1 Features
Features	OS0
FOV Vertical	45 degrees (-22.5 to 22.5)
FOV Horizontal	360 degrees
Rotation Rate	10 or 20 hz (configurable)
Range Resolution	0.1 cm
Range	0.5 m to 200 m
Accuracy	2.5 cm (Mean Range Error)
Precision	Min +- 0.5 cm, Max +- 3cm
Point Rate	5.2 Million pts/s @ Single return

Other Features

Dimensions: 87 mm (Diameter) by 58.35 mm (Height). With thermal cap, height is 74.2 mm.
IMU supported: InvenSense IAM-20680HT

Note

For the datasheet and full list of specifications, visit the OS1 product page.

Sick

Sick microScan3

microScan3 is a rugged safety laser scanner by sick.

To create the snesor: Create>Sensors>RTX Lidar>RTX Lidar>SICK>SICK microScan3

Features and Specification

microScan3 Features
Features	microScan3
FOV Horizontal	275 degrees
Angular Resolution	0.39’

Other Features

Dimensions: 112 mm (Width) by 150.7 mm (Height) by 111.11 mm (Depth)

Note

For the datasheet and full list of specifications, visit the microScan3 product page.

Sick TIM781

TIM781 is an outdoor 2D lidar system by Sick.

To create the sensor: Create>Sensors>RTX Lidar>RTX Lidar>SICK>SICK TiM781

Features and Specification

TIM781 Features
Features	TIM781
FOV Horizontal	270 degrees
Rotation Rate	15 hz
Angular Resolution	0.33’
Range	0.05 m to 25 m

Other Features

Dimensions: 77 mm (Diameter) by 38.85 mm (Height)
Operating Temperature: -25C to 50C

Note

For the datasheet and full list of specifications, visit the TIM781 product page.

SLAMTEC

RPLIDAR S2E

RPLIDAR S2E is a low cost 360 degrees 2D laser scanner lidar from SLAMTEC.

Asset Path: /Isaac/Sensors/Slamtec/RPLidar_S2e.usd

Features and Specification

RPLIDAR S2E Features
Features	RPLIDAR S2E
FOV Horizontal	360 degrees
Rotation Rate	10 hz
Angular Resolution	0.12’
Sampling Rate	32000
Range	0.05 m to 30 m
Accuracy	+-30 mm

Other Features

Dimensions: 60 mm (Diameter) by 86 mm (Height)
Operating Temperature: -10C to 50C

Note

For the datasheet and full list of specifications, visit the RPLIDAR S2E product page.

Velodyne

Velodyne VLS-128

Also known as Alpha Prime, VLS-128 is a long range, ultra high resolution 3D lidar for autonomous vehicles.

To create the sensor: Create>Sensors>RTX Lidar>Velodyne>Velodyne VLS-128

Features and Specification

VLS-128 Features
Features	VLS-128
Channels	128
FOV Horizontal	360 degrees
FOV Vertical	40 degrees (-25 to 15)
Rotation Rate	20 hz
Angular Resolution	Azimuth 0.1’ to 0.4’, vertical 0.11’
Sampling Rate	2.4 Million
Range	upto 245
Accuracy	+-30 mm

Other Features

Dimensions: 165.5 mm (Diameter) by 141.3 mm (Height)
Operating Temperature: -20C to 60C

Note

VLS-128 (alpha prime) datasheet and VLS-128 (alpha prime) product page.

ZVISION

ZVISION ML-30s+ (Certified by Zvision)

ZVISION ML-30s+ is a short range automotive grade solid state lidar.

To create the sensor: Create>Sensors>RTX Lidar>ZVISION>ML-30s+

Note

For the datasheet and full list of specifications, visit the ML-30s+ product page.

ZVISION ML-Xs (Certified by Zvision)

ZVISION ML-Xs is a long range automotive high performance grade solid state lidar.

To create the sensor: Create>Sensors>RTX Lidar>ZVISION>ML-Xs

Note

For the datasheet and full list of specifications, visit the ML-Xs product page.

ML-30s+ Features
Features	ML30s+
FOV	FOV (140H by 70V) Vertical FOV from (-50’ to 20’)
Resolution	320 by 160
Range	22 m @10%, 100klux

ML-30s+ Features
Features	ML-Xs
FOV	FOV (125 by 25)
Resolution	600 by 180
Range	250 m @10%