Physics Based Sensors
The physics based sensors are based on CPU physics simulations and are run after the rendering is finished. They have access to a prim’s physics properties, like mass and velocity.
These sensors will output the exact measurements from the physics engine and the sensor readings can be augmented in post processing. By default, the highest rate that the sensors can output data is the physics rate, and additional interpolation from the users is need to generate data beyond this rate. Furthermore, ground truth readings from the simulator may already have some noise and additional noise can be augmented to the sensor readings in post process to make them more realistic.
Currently, NVIDIA Isaac Sim supports a selection of physics based ground truth sensors such as the contact sensor, IMU, effort sensor, force sensor(deprecated), and proximity sensor