IMUSourceNode

IMU Source node. Reads the IMU state of an IMU sensor from the USD stage

Installation

To use this Node, you must enable omni.drivesim.imu_sensor in the Extension Manager.

Inputs

Name	Type	Description	Default
dynamicState	bundle	Dynamic state of the input vehicle entity
bone	token	IMU sensor input vehicle bone name	/Entities/Ego
transform	matrixd[4]	IMU sensor transform relative to vehicle bone
timestamp	double	IMU timestamp
pose	matrixd[4]	Vehicle bone pose
acceleration	vectord[3]	Vehicle bone acceleration
velocity	vectord[3]	Vehicle bone velocity
angularVelocity	vectord[3]	Vehicle bone angular velocity

Outputs

Name	Type	Description	Default
imustate	uint64	imu buffer handle