#usda 1.0 ( doc = """Source-based SICK TiM781-2174101 solid-state representation. Built from SICK datasheet 1096807, TiM781 operating instructions 8024231, and SICK knowledge article KA-10209.""" metersPerUnit = 1 upAxis = "Z" defaultPrim = "SICK_TiM781_SolidState" ) def OmniLidar "SICK_TiM781_SolidState" ( doc = """SICK TiM781 nominal 15 Hz explicit-frame profile. The profile represents one observable rotating-mirror sweep as 811 virtual solid-state emitters. It preserves nominal directions and firing times at 15 Hz for a full-period, scan-aligned capture, but it does not model persistent rotary-scheduler phase or rotation-boundary completion. Values described as maxima or approximations require validation against the target device.""" prepend apiSchemas = ["OmniSensorGenericLidarCoreAPI"] ) { string omni:sensor:modelName = "LidarCore" string omni:sensor:modelVersion = "0.0.0" string omni:sensor:modelVendor = "NVIDIA" string omni:sensor:marketName = "SICK TiM781-2174101" float omni:sensor:tickRate = 15.0 uint omni:sensor:Core:scanRateBaseHz = 15 uint omni:sensor:Core:patternFiringRateHz = 15 token omni:sensor:Core:scanType = "SOLID_STATE" token omni:sensor:Core:rayType = "IDEALIZED" bool omni:sensor:Core:accumulateOutputs = true float omni:sensor:Core:nearRangeM = 0.05 float omni:sensor:Core:farRangeM = 25.0 float omni:sensor:Core:rangeResolutionM = 0.001 # The source specifies statistical error below 20 mm (1 sigma) and a # separate systematic error of +/-60 mm. This value approximates only # the statistical term. float omni:sensor:Core:rangeAccuracyM = 0.02 # SICK specifies 10% at 8 m as a typical sensing range, whereas this # generic-core pair is a threshold anchor. Validate and calibrate it. float omni:sensor:Core:minReflectance = 0.10 float omni:sensor:Core:minReflectionRangeM = 8.0 float omni:sensor:Core:waveLengthNm = 850.0 # Effective HDDM measurement footprint: 8.6 mrad single-pulse divergence # plus a 5.8 mrad horizontal supplement; the vertical value is 8.6 mrad. float omni:sensor:Core:divergenceHorDeg = 0.8251 float omni:sensor:Core:divergenceVerDeg = 0.4927 token omni:sensor:Core:intensityProcessing = "NORMALIZATION" token omni:sensor:Core:intensityMappingType = "LINEAR" float omni:sensor:Core:intensityScalePercent = 254.0 # Published upper bounds, used as source-based starting values rather # than nominal calibrated radiometric values. float omni:sensor:Core:peakPowerW = 0.88 uint omni:sensor:Core:pulseTimeNs = 5 uint omni:sensor:Core:maxReturns = 1 # The solid-state implementation sizes output storage from # numberOfChannels and indexes it by emitter ID, so its capacity must # match the 811 explicit emitters. This analytic profile assigns one # channel ID to every emitter slot; those IDs do not represent separate # physical TiM distance-data channels. uint omni:sensor:Core:numberOfEmitters = 811 uint omni:sensor:Core:numberOfChannels = 811 uint omni:sensor:Core:numLines = 1 uint[] omni:sensor:Core:numRaysPerLine = [811] uint omni:sensor:Core:rangeCount = 1 float[] omni:sensor:Core:rangesMinM = [0.05] float[] omni:sensor:Core:rangesMaxM = [25.0] uint omni:sensor:Core:stateResolutionStep = 1 # No random angular distribution is published. Keep synthetic jitter at # zero until it can be fitted to measurements. float omni:sensor:Core:azimuthErrorMean = 0.0 float omni:sensor:Core:azimuthErrorStd = 0.0 float omni:sensor:Core:elevationErrorMean = 0.0 float omni:sensor:Core:elevationErrorStd = 0.0 # For sample i = 0..810: # SICK angle = -45 + i / 3 degrees # authored core azimuth = 45 - i / 3 degrees # The solid-state core converts authored azimuth A to direction 360 - A. float[] omni:sensor:Core:emitterState:s001:azimuthDeg = [ 45.000000, 44.666667, 44.333333, 44.000000, 43.666667, 43.333333, 43.000000, 42.666667, 42.333333, 42.000000, 41.666667, 41.333333, 41.000000, 40.666667, 40.333333, 40.000000, 39.666667, 39.333333, 39.000000, 38.666667, 38.333333, 38.000000, 37.666667, 37.333333, 37.000000, 36.666667, 36.333333, 36.000000, 35.666667, 35.333333, 35.000000, 34.666667, 34.333333, 34.000000, 33.666667, 33.333333, 33.000000, 32.666667, 32.333333, 32.000000, 31.666667, 31.333333, 31.000000, 30.666667, 30.333333, 30.000000, 29.666667, 29.333333, 29.000000, 28.666667, 28.333333, 28.000000, 27.666667, 27.333333, 27.000000, 26.666667, 26.333333, 26.000000, 25.666667, 25.333333, 25.000000, 24.666667, 24.333333, 24.000000, 23.666667, 23.333333, 23.000000, 22.666667, 22.333333, 22.000000, 21.666667, 21.333333, 21.000000, 20.666667, 20.333333, 20.000000, 19.666667, 19.333333, 19.000000, 18.666667, 18.333333, 18.000000, 17.666667, 17.333333, 17.000000, 16.666667, 16.333333, 16.000000, 15.666667, 15.333333, 15.000000, 14.666667, 14.333333, 14.000000, 13.666667, 13.333333, 13.000000, 12.666667, 12.333333, 12.000000, 11.666667, 11.333333, 11.000000, 10.666667, 10.333333, 10.000000, 9.666667, 9.333333, 9.000000, 8.666667, 8.333333, 8.000000, 7.666667, 7.333333, 7.000000, 6.666667, 6.333333, 6.000000, 5.666667, 5.333333, 5.000000, 4.666667, 4.333333, 4.000000, 3.666667, 3.333333, 3.000000, 2.666667, 2.333333, 2.000000, 1.666667, 1.333333, 1.000000, 0.666667, 0.333333, 0.000000, -0.333333, -0.666667, -1.000000, -1.333333, -1.666667, -2.000000, -2.333333, -2.666667, -3.000000, -3.333333, -3.666667, -4.000000, -4.333333, -4.666667, -5.000000, -5.333333, -5.666667, -6.000000, -6.333333, -6.666667, -7.000000, -7.333333, -7.666667, -8.000000, -8.333333, -8.666667, -9.000000, -9.333333, -9.666667, -10.000000, -10.333333, -10.666667, -11.000000, -11.333333, -11.666667, -12.000000, -12.333333, -12.666667, -13.000000, -13.333333, -13.666667, -14.000000, -14.333333, -14.666667, -15.000000, -15.333333, -15.666667, -16.000000, -16.333333, -16.666667, -17.000000, -17.333333, -17.666667, -18.000000, -18.333333, -18.666667, -19.000000, -19.333333, -19.666667, -20.000000, -20.333333, -20.666667, -21.000000, -21.333333, -21.666667, -22.000000, -22.333333, -22.666667, -23.000000, -23.333333, -23.666667, -24.000000, -24.333333, -24.666667, -25.000000, -25.333333, -25.666667, -26.000000, -26.333333, -26.666667, -27.000000, -27.333333, -27.666667, -28.000000, -28.333333, -28.666667, -29.000000, -29.333333, -29.666667, -30.000000, -30.333333, -30.666667, -31.000000, -31.333333, -31.666667, -32.000000, -32.333333, -32.666667, -33.000000, -33.333333, -33.666667, -34.000000, -34.333333, -34.666667, -35.000000, -35.333333, -35.666667, -36.000000, -36.333333, -36.666667, -37.000000, -37.333333, -37.666667, -38.000000, -38.333333, -38.666667, -39.000000, -39.333333, -39.666667, -40.000000, -40.333333, -40.666667, -41.000000, -41.333333, -41.666667, -42.000000, -42.333333, -42.666667, -43.000000, -43.333333, -43.666667, -44.000000, -44.333333, -44.666667, -45.000000, -45.333333, -45.666667, -46.000000, -46.333333, -46.666667, -47.000000, -47.333333, -47.666667, -48.000000, -48.333333, -48.666667, -49.000000, -49.333333, -49.666667, -50.000000, -50.333333, -50.666667, -51.000000, -51.333333, -51.666667, -52.000000, -52.333333, -52.666667, -53.000000, -53.333333, -53.666667, -54.000000, -54.333333, -54.666667, -55.000000, -55.333333, -55.666667, -56.000000, -56.333333, -56.666667, -57.000000, -57.333333, -57.666667, -58.000000, -58.333333, -58.666667, -59.000000, -59.333333, -59.666667, -60.000000, -60.333333, -60.666667, -61.000000, -61.333333, -61.666667, -62.000000, -62.333333, -62.666667, -63.000000, -63.333333, -63.666667, -64.000000, -64.333333, -64.666667, -65.000000, -65.333333, -65.666667, -66.000000, -66.333333, -66.666667, -67.000000, -67.333333, -67.666667, -68.000000, -68.333333, -68.666667, -69.000000, -69.333333, -69.666667, -70.000000, -70.333333, -70.666667, -71.000000, -71.333333, -71.666667, -72.000000, -72.333333, -72.666667, -73.000000, -73.333333, -73.666667, -74.000000, -74.333333, -74.666667, -75.000000, -75.333333, -75.666667, -76.000000, -76.333333, -76.666667, -77.000000, -77.333333, -77.666667, -78.000000, -78.333333, -78.666667, -79.000000, -79.333333, -79.666667, -80.000000, -80.333333, -80.666667, -81.000000, -81.333333, -81.666667, -82.000000, -82.333333, -82.666667, -83.000000, -83.333333, -83.666667, -84.000000, -84.333333, -84.666667, -85.000000, -85.333333, -85.666667, -86.000000, -86.333333, -86.666667, -87.000000, -87.333333, -87.666667, -88.000000, -88.333333, -88.666667, -89.000000, -89.333333, -89.666667, -90.000000, -90.333333, -90.666667, -91.000000, -91.333333, -91.666667, -92.000000, -92.333333, -92.666667, -93.000000, -93.333333, -93.666667, -94.000000, -94.333333, -94.666667, -95.000000, -95.333333, -95.666667, -96.000000, -96.333333, -96.666667, -97.000000, -97.333333, -97.666667, -98.000000, -98.333333, -98.666667, -99.000000, -99.333333, -99.666667, -100.000000, -100.333333, -100.666667, -101.000000, -101.333333, -101.666667, -102.000000, -102.333333, -102.666667, -103.000000, -103.333333, -103.666667, -104.000000, -104.333333, -104.666667, -105.000000, -105.333333, -105.666667, -106.000000, -106.333333, -106.666667, -107.000000, -107.333333, -107.666667, -108.000000, -108.333333, -108.666667, -109.000000, -109.333333, -109.666667, -110.000000, -110.333333, -110.666667, -111.000000, -111.333333, -111.666667, -112.000000, -112.333333, -112.666667, -113.000000, -113.333333, -113.666667, -114.000000, -114.333333, -114.666667, -115.000000, -115.333333, -115.666667, -116.000000, -116.333333, -116.666667, -117.000000, -117.333333, -117.666667, -118.000000, -118.333333, -118.666667, -119.000000, -119.333333, -119.666667, -120.000000, -120.333333, -120.666667, -121.000000, -121.333333, -121.666667, -122.000000, -122.333333, -122.666667, -123.000000, -123.333333, -123.666667, -124.000000, -124.333333, -124.666667, -125.000000, -125.333333, -125.666667, -126.000000, -126.333333, -126.666667, -127.000000, -127.333333, -127.666667, -128.000000, -128.333333, -128.666667, -129.000000, -129.333333, -129.666667, -130.000000, -130.333333, -130.666667, -131.000000, -131.333333, -131.666667, -132.000000, -132.333333, -132.666667, -133.000000, -133.333333, -133.666667, -134.000000, -134.333333, -134.666667, -135.000000, -135.333333, -135.666667, -136.000000, -136.333333, -136.666667, -137.000000, -137.333333, -137.666667, -138.000000, -138.333333, -138.666667, -139.000000, -139.333333, -139.666667, -140.000000, -140.333333, -140.666667, -141.000000, -141.333333, -141.666667, -142.000000, -142.333333, -142.666667, -143.000000, -143.333333, -143.666667, -144.000000, -144.333333, -144.666667, -145.000000, -145.333333, -145.666667, -146.000000, -146.333333, -146.666667, -147.000000, -147.333333, -147.666667, -148.000000, -148.333333, -148.666667, -149.000000, -149.333333, -149.666667, -150.000000, -150.333333, -150.666667, -151.000000, -151.333333, -151.666667, -152.000000, -152.333333, -152.666667, -153.000000, -153.333333, -153.666667, -154.000000, -154.333333, -154.666667, -155.000000, -155.333333, -155.666667, -156.000000, -156.333333, -156.666667, -157.000000, -157.333333, -157.666667, -158.000000, -158.333333, -158.666667, -159.000000, -159.333333, -159.666667, -160.000000, -160.333333, -160.666667, -161.000000, -161.333333, -161.666667, -162.000000, -162.333333, -162.666667, -163.000000, -163.333333, -163.666667, -164.000000, -164.333333, -164.666667, -165.000000, -165.333333, -165.666667, -166.000000, -166.333333, -166.666667, -167.000000, -167.333333, -167.666667, -168.000000, -168.333333, -168.666667, -169.000000, -169.333333, -169.666667, -170.000000, -170.333333, -170.666667, -171.000000, -171.333333, -171.666667, -172.000000, -172.333333, -172.666667, -173.000000, -173.333333, -173.666667, -174.000000, -174.333333, -174.666667, -175.000000, -175.333333, -175.666667, -176.000000, -176.333333, -176.666667, -177.000000, -177.333333, -177.666667, -178.000000, -178.333333, -178.666667, -179.000000, -179.333333, -179.666667, -180.000000, -180.333333, -180.666667, -181.000000, -181.333333, -181.666667, -182.000000, -182.333333, -182.666667, -183.000000, -183.333333, -183.666667, -184.000000, -184.333333, -184.666667, -185.000000, -185.333333, -185.666667, -186.000000, -186.333333, -186.666667, -187.000000, -187.333333, -187.666667, -188.000000, -188.333333, -188.666667, -189.000000, -189.333333, -189.666667, -190.000000, -190.333333, -190.666667, -191.000000, -191.333333, -191.666667, -192.000000, -192.333333, -192.666667, -193.000000, -193.333333, -193.666667, -194.000000, -194.333333, -194.666667, -195.000000, -195.333333, -195.666667, -196.000000, -196.333333, -196.666667, -197.000000, -197.333333, -197.666667, -198.000000, -198.333333, -198.666667, -199.000000, -199.333333, -199.666667, -200.000000, -200.333333, -200.666667, -201.000000, -201.333333, -201.666667, -202.000000, -202.333333, -202.666667, -203.000000, -203.333333, -203.666667, -204.000000, -204.333333, -204.666667, -205.000000, -205.333333, -205.666667, -206.000000, -206.333333, -206.666667, -207.000000, -207.333333, -207.666667, -208.000000, -208.333333, -208.666667, -209.000000, -209.333333, -209.666667, -210.000000, -210.333333, -210.666667, -211.000000, -211.333333, -211.666667, -212.000000, -212.333333, -212.666667, -213.000000, -213.333333, -213.666667, -214.000000, -214.333333, -214.666667, -215.000000, -215.333333, -215.666667, -216.000000, -216.333333, -216.666667, -217.000000, -217.333333, -217.666667, -218.000000, -218.333333, -218.666667, -219.000000, -219.333333, -219.666667, -220.000000, -220.333333, -220.666667, -221.000000, -221.333333, -221.666667, -222.000000, -222.333333, -222.666667, -223.000000, -223.333333, -223.666667, -224.000000, -224.333333, -224.666667, -225.000000 ] float[] omni:sensor:Core:emitterState:s001:elevationDeg = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ] # The optical plane is 62.46 mm above the assumed housing-base prim. # This maps Z only; the mounting asset must establish the X/Y origin. float[] omni:sensor:Core:emitterState:s001:vertOffsetM = [ 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246, 0.06246 ] # SICK timestamps the scan at its -90-degree zero index. Sample i is # encoder tick 135 + i at 16.2 kHz: # fireTimeNs[i] = round((135 + i) * 1e9 / 16200) # This places visible output from 8.333333 through 58.333333 ms and # preserves the nominal 16.666667 ms gap between successive sweeps. uint[] omni:sensor:Core:emitterState:s001:fireTimeNs = [ 8333333, 8395062, 8456790, 8518519, 8580247, 8641975, 8703704, 8765432, 8827160, 8888889, 8950617, 9012346, 9074074, 9135802, 9197531, 9259259, 9320988, 9382716, 9444444, 9506173, 9567901, 9629630, 9691358, 9753086, 9814815, 9876543, 9938272, 10000000, 10061728, 10123457, 10185185, 10246914, 10308642, 10370370, 10432099, 10493827, 10555556, 10617284, 10679012, 10740741, 10802469, 10864198, 10925926, 10987654, 11049383, 11111111, 11172840, 11234568, 11296296, 11358025, 11419753, 11481481, 11543210, 11604938, 11666667, 11728395, 11790123, 11851852, 11913580, 11975309, 12037037, 12098765, 12160494, 12222222, 12283951, 12345679, 12407407, 12469136, 12530864, 12592593, 12654321, 12716049, 12777778, 12839506, 12901235, 12962963, 13024691, 13086420, 13148148, 13209877, 13271605, 13333333, 13395062, 13456790, 13518519, 13580247, 13641975, 13703704, 13765432, 13827160, 13888889, 13950617, 14012346, 14074074, 14135802, 14197531, 14259259, 14320988, 14382716, 14444444, 14506173, 14567901, 14629630, 14691358, 14753086, 14814815, 14876543, 14938272, 15000000, 15061728, 15123457, 15185185, 15246914, 15308642, 15370370, 15432099, 15493827, 15555556, 15617284, 15679012, 15740741, 15802469, 15864198, 15925926, 15987654, 16049383, 16111111, 16172840, 16234568, 16296296, 16358025, 16419753, 16481481, 16543210, 16604938, 16666667, 16728395, 16790123, 16851852, 16913580, 16975309, 17037037, 17098765, 17160494, 17222222, 17283951, 17345679, 17407407, 17469136, 17530864, 17592593, 17654321, 17716049, 17777778, 17839506, 17901235, 17962963, 18024691, 18086420, 18148148, 18209877, 18271605, 18333333, 18395062, 18456790, 18518519, 18580247, 18641975, 18703704, 18765432, 18827160, 18888889, 18950617, 19012346, 19074074, 19135802, 19197531, 19259259, 19320988, 19382716, 19444444, 19506173, 19567901, 19629630, 19691358, 19753086, 19814815, 19876543, 19938272, 20000000, 20061728, 20123457, 20185185, 20246914, 20308642, 20370370, 20432099, 20493827, 20555556, 20617284, 20679012, 20740741, 20802469, 20864198, 20925926, 20987654, 21049383, 21111111, 21172840, 21234568, 21296296, 21358025, 21419753, 21481481, 21543210, 21604938, 21666667, 21728395, 21790123, 21851852, 21913580, 21975309, 22037037, 22098765, 22160494, 22222222, 22283951, 22345679, 22407407, 22469136, 22530864, 22592593, 22654321, 22716049, 22777778, 22839506, 22901235, 22962963, 23024691, 23086420, 23148148, 23209877, 23271605, 23333333, 23395062, 23456790, 23518519, 23580247, 23641975, 23703704, 23765432, 23827160, 23888889, 23950617, 24012346, 24074074, 24135802, 24197531, 24259259, 24320988, 24382716, 24444444, 24506173, 24567901, 24629630, 24691358, 24753086, 24814815, 24876543, 24938272, 25000000, 25061728, 25123457, 25185185, 25246914, 25308642, 25370370, 25432099, 25493827, 25555556, 25617284, 25679012, 25740741, 25802469, 25864198, 25925926, 25987654, 26049383, 26111111, 26172840, 26234568, 26296296, 26358025, 26419753, 26481481, 26543210, 26604938, 26666667, 26728395, 26790123, 26851852, 26913580, 26975309, 27037037, 27098765, 27160494, 27222222, 27283951, 27345679, 27407407, 27469136, 27530864, 27592593, 27654321, 27716049, 27777778, 27839506, 27901235, 27962963, 28024691, 28086420, 28148148, 28209877, 28271605, 28333333, 28395062, 28456790, 28518519, 28580247, 28641975, 28703704, 28765432, 28827160, 28888889, 28950617, 29012346, 29074074, 29135802, 29197531, 29259259, 29320988, 29382716, 29444444, 29506173, 29567901, 29629630, 29691358, 29753086, 29814815, 29876543, 29938272, 30000000, 30061728, 30123457, 30185185, 30246914, 30308642, 30370370, 30432099, 30493827, 30555556, 30617284, 30679012, 30740741, 30802469, 30864198, 30925926, 30987654, 31049383, 31111111, 31172840, 31234568, 31296296, 31358025, 31419753, 31481481, 31543210, 31604938, 31666667, 31728395, 31790123, 31851852, 31913580, 31975309, 32037037, 32098765, 32160494, 32222222, 32283951, 32345679, 32407407, 32469136, 32530864, 32592593, 32654321, 32716049, 32777778, 32839506, 32901235, 32962963, 33024691, 33086420, 33148148, 33209877, 33271605, 33333333, 33395062, 33456790, 33518519, 33580247, 33641975, 33703704, 33765432, 33827160, 33888889, 33950617, 34012346, 34074074, 34135802, 34197531, 34259259, 34320988, 34382716, 34444444, 34506173, 34567901, 34629630, 34691358, 34753086, 34814815, 34876543, 34938272, 35000000, 35061728, 35123457, 35185185, 35246914, 35308642, 35370370, 35432099, 35493827, 35555556, 35617284, 35679012, 35740741, 35802469, 35864198, 35925926, 35987654, 36049383, 36111111, 36172840, 36234568, 36296296, 36358025, 36419753, 36481481, 36543210, 36604938, 36666667, 36728395, 36790123, 36851852, 36913580, 36975309, 37037037, 37098765, 37160494, 37222222, 37283951, 37345679, 37407407, 37469136, 37530864, 37592593, 37654321, 37716049, 37777778, 37839506, 37901235, 37962963, 38024691, 38086420, 38148148, 38209877, 38271605, 38333333, 38395062, 38456790, 38518519, 38580247, 38641975, 38703704, 38765432, 38827160, 38888889, 38950617, 39012346, 39074074, 39135802, 39197531, 39259259, 39320988, 39382716, 39444444, 39506173, 39567901, 39629630, 39691358, 39753086, 39814815, 39876543, 39938272, 40000000, 40061728, 40123457, 40185185, 40246914, 40308642, 40370370, 40432099, 40493827, 40555556, 40617284, 40679012, 40740741, 40802469, 40864198, 40925926, 40987654, 41049383, 41111111, 41172840, 41234568, 41296296, 41358025, 41419753, 41481481, 41543210, 41604938, 41666667, 41728395, 41790123, 41851852, 41913580, 41975309, 42037037, 42098765, 42160494, 42222222, 42283951, 42345679, 42407407, 42469136, 42530864, 42592593, 42654321, 42716049, 42777778, 42839506, 42901235, 42962963, 43024691, 43086420, 43148148, 43209877, 43271605, 43333333, 43395062, 43456790, 43518519, 43580247, 43641975, 43703704, 43765432, 43827160, 43888889, 43950617, 44012346, 44074074, 44135802, 44197531, 44259259, 44320988, 44382716, 44444444, 44506173, 44567901, 44629630, 44691358, 44753086, 44814815, 44876543, 44938272, 45000000, 45061728, 45123457, 45185185, 45246914, 45308642, 45370370, 45432099, 45493827, 45555556, 45617284, 45679012, 45740741, 45802469, 45864198, 45925926, 45987654, 46049383, 46111111, 46172840, 46234568, 46296296, 46358025, 46419753, 46481481, 46543210, 46604938, 46666667, 46728395, 46790123, 46851852, 46913580, 46975309, 47037037, 47098765, 47160494, 47222222, 47283951, 47345679, 47407407, 47469136, 47530864, 47592593, 47654321, 47716049, 47777778, 47839506, 47901235, 47962963, 48024691, 48086420, 48148148, 48209877, 48271605, 48333333, 48395062, 48456790, 48518519, 48580247, 48641975, 48703704, 48765432, 48827160, 48888889, 48950617, 49012346, 49074074, 49135802, 49197531, 49259259, 49320988, 49382716, 49444444, 49506173, 49567901, 49629630, 49691358, 49753086, 49814815, 49876543, 49938272, 50000000, 50061728, 50123457, 50185185, 50246914, 50308642, 50370370, 50432099, 50493827, 50555556, 50617284, 50679012, 50740741, 50802469, 50864198, 50925926, 50987654, 51049383, 51111111, 51172840, 51234568, 51296296, 51358025, 51419753, 51481481, 51543210, 51604938, 51666667, 51728395, 51790123, 51851852, 51913580, 51975309, 52037037, 52098765, 52160494, 52222222, 52283951, 52345679, 52407407, 52469136, 52530864, 52592593, 52654321, 52716049, 52777778, 52839506, 52901235, 52962963, 53024691, 53086420, 53148148, 53209877, 53271605, 53333333, 53395062, 53456790, 53518519, 53580247, 53641975, 53703704, 53765432, 53827160, 53888889, 53950617, 54012346, 54074074, 54135802, 54197531, 54259259, 54320988, 54382716, 54444444, 54506173, 54567901, 54629630, 54691358, 54753086, 54814815, 54876543, 54938272, 55000000, 55061728, 55123457, 55185185, 55246914, 55308642, 55370370, 55432099, 55493827, 55555556, 55617284, 55679012, 55740741, 55802469, 55864198, 55925926, 55987654, 56049383, 56111111, 56172840, 56234568, 56296296, 56358025, 56419753, 56481481, 56543210, 56604938, 56666667, 56728395, 56790123, 56851852, 56913580, 56975309, 57037037, 57098765, 57160494, 57222222, 57283951, 57345679, 57407407, 57469136, 57530864, 57592593, 57654321, 57716049, 57777778, 57839506, 57901235, 57962963, 58024691, 58086420, 58148148, 58209877, 58271605, 58333333 ] # Authored IDs cover 1..numberOfChannels; PointCloud ChannelId is 0..810. uint[] omni:sensor:Core:emitterState:s001:channelId = [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 260, 261, 262, 263, 264, 265, 266, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 280, 281, 282, 283, 284, 285, 286, 287, 288, 289, 290, 291, 292, 293, 294, 295, 296, 297, 298, 299, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312, 313, 314, 315, 316, 317, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 330, 331, 332, 333, 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, 346, 347, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383, 384, 385, 386, 387, 388, 389, 390, 391, 392, 393, 394, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, 406, 407, 408, 409, 410, 411, 412, 413, 414, 415, 416, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 447, 448, 449, 450, 451, 452, 453, 454, 455, 456, 457, 458, 459, 460, 461, 462, 463, 464, 465, 466, 467, 468, 469, 470, 471, 472, 473, 474, 475, 476, 477, 478, 479, 480, 481, 482, 483, 484, 485, 486, 487, 488, 489, 490, 491, 492, 493, 494, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 510, 511, 512, 513, 514, 515, 516, 517, 518, 519, 520, 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, 531, 532, 533, 534, 535, 536, 537, 538, 539, 540, 541, 542, 543, 544, 545, 546, 547, 548, 549, 550, 551, 552, 553, 554, 555, 556, 557, 558, 559, 560, 561, 562, 563, 564, 565, 566, 567, 568, 569, 570, 571, 572, 573, 574, 575, 576, 577, 578, 579, 580, 581, 582, 583, 584, 585, 586, 587, 588, 589, 590, 591, 592, 593, 594, 595, 596, 597, 598, 599, 600, 601, 602, 603, 604, 605, 606, 607, 608, 609, 610, 611, 612, 613, 614, 615, 616, 617, 618, 619, 620, 621, 622, 623, 624, 625, 626, 627, 628, 629, 630, 631, 632, 633, 634, 635, 636, 637, 638, 639, 640, 641, 642, 643, 644, 645, 646, 647, 648, 649, 650, 651, 652, 653, 654, 655, 656, 657, 658, 659, 660, 661, 662, 663, 664, 665, 666, 667, 668, 669, 670, 671, 672, 673, 674, 675, 676, 677, 678, 679, 680, 681, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 694, 695, 696, 697, 698, 699, 700, 701, 702, 703, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 717, 718, 719, 720, 721, 722, 723, 724, 725, 726, 727, 728, 729, 730, 731, 732, 733, 734, 735, 736, 737, 738, 739, 740, 741, 742, 743, 744, 745, 746, 747, 748, 749, 750, 751, 752, 753, 754, 755, 756, 757, 758, 759, 760, 761, 762, 763, 764, 765, 766, 767, 768, 769, 770, 771, 772, 773, 774, 775, 776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811 ] uint[] omni:sensor:Core:emitterState:s001:rangeId = [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ] # One solid-state line; every emitter belongs to bank 0. uint[] omni:sensor:Core:emitterState:s001:bank = [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ] def RenderProduct "RenderedOutputs" { uniform int2 resolution = (1280, 720) rel camera = <../../SICK_TiM781_SolidState> # Applications typically retain one of these output formats and # request only the channels they consume. rel orderedVars = [ , ] def Scope "SupportedOutputs" { def RenderVar "RtxSensorGmo" ( prepend apiSchemas = ["RenderVarChannelsAPI"] ) { uniform string sourceName = "GenericModelOutput" string[] channels = ["EXTRA"] } def RenderVar "PointCloud" ( prepend apiSchemas = ["RenderVarChannelsAPI"] ) { string sourceName = "PointCloud" string[] channels = ["Coordinates", "Intensity", "TimeOffsetNs", "EmitterId", "ChannelId", "EchoId"] } } } }