Range Based Sensor Simulation [omni.isaac.range_sensor]

This extension provides a set simulated range based sensors like lidar, ultrasonic, generic and interfaces to access them in the simulator.

Lidar Sensor

This submodule provides an interface to a simulated lidar sensor. A simplified command is provided to create a lidar sensor in the stage:

commands.RangeSensorCreateLidar(parent=None, min_range: float = 0.4, max_range: float = 100.0, draw_points: bool = False, draw_lines: bool = False, horizontal_fov: float = 360.0, vertical_fov: float = 30.0, horizontal_resolution: float = 0.4, vertical_resolution: float = 4.0, rotation_rate: float = 20.0, high_lod: bool = False, yaw_offset: float = 0.0, enable_semantics: bool = False)

Commands class to create a lidar sensor.

Typical usage example:

result, prim = omni.kit.commands.execute(
    "RangeSensorCreateLidar",
    path="/Lidar",
    parent=None,
    min_range=0.4,
    max_range=100.0,
    draw_points=False,
    draw_lines=False,
    horizontal_fov=360.0,
    vertical_fov=30.0,
    horizontal_resolution=0.4,
    vertical_resolution=4.0,
    rotation_rate=20.0,
    high_lod=False,
    yaw_offset=0.0,
    enable_semantics=False,
)

Once a lidar sensor is in the stage you can use this interface to interact with the simulated lidar data. You must first call the acquire interface function. It is also recommended to use the is_lidar_sensor function to check if a lidar sensor exists at the given USD path

from omni.isaac.range_sensor._range_sensor import acquire_lidar_sensor_interface
lidar_sensor_interface = acquire_lidar_sensor_interface()
if lidar_sensor_interface.is_lidar_sensor("/World/Lidar"):
    print("lidar sensor is valid")

_range_sensor.acquire_lidar_sensor_interface(plugin_name: str = None, library_path: str = None) → omni.isaac.range_sensor._range_sensor.LidarSensorInterface

_range_sensor.release_lidar_sensor_interface(arg0: omni.isaac.range_sensor._range_sensor.LidarSensorInterface) → None

class LidarSensorInterface

get_azimuth_data(self: omni.isaac.range_sensor._range_sensor.LidarSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The azimuth angle in radians for each column
Return type: numpy.ndarray

get_depth_data(self: omni.isaac.range_sensor._range_sensor.LidarSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The distance from the sensor to the hit for each beam in uint16 and scaled by min and max distance
Return type: numpy.ndarray

get_intensity_data(self: omni.isaac.range_sensor._range_sensor.LidarSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The observed specular intensity of each beam, 255 if hit, 0 if not
Return type: numpy.ndarray

get_linear_depth_data(self: omni.isaac.range_sensor._range_sensor.LidarSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The distance from the sensor to the hit for each beam in meters
Return type: numpy.ndarray

get_num_cols(self: omni.isaac.range_sensor._range_sensor.LidarSensorInterface, arg0: str) → int

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The number of vertical scans of the sensor, 0 if error occurred
Return type: int

get_num_cols_ticked(self: omni.isaac.range_sensor._range_sensor.LidarSensorInterface, arg0: str) → int

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The number of vertical scans the sensor completed in the last simulation step, 0 if error occurred. Generally only useful for lidars with a non-zero rotation speed
Return type: int

get_num_rows(self: omni.isaac.range_sensor._range_sensor.LidarSensorInterface, arg0: str) → int

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The number of horizontal scans of the sensor, 0 if error occurred
Return type: int

get_point_cloud_data(self: omni.isaac.range_sensor._range_sensor.LidarSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The hit position in xyz relative to the sensor origin, not accounting for individual ray offsets
Return type: numpy.ndarray

get_semantic_data(self: omni.isaac.range_sensor._range_sensor.LidarSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The semantic id of the hit for each beam in uint16
Return type: numpy.ndarray

get_zenith_data(self: omni.isaac.range_sensor._range_sensor.LidarSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The zenith angle in radians for each row
Return type: numpy.ndarray

is_lidar_sensor(self: omni.isaac.range_sensor._range_sensor.LidarSensorInterface, arg0: str) → bool

Parameters: arg0 (str) – USD path to sensor as a string
Returns: True if a sensor exists at the give path, False otherwise
Return type: bool

Ultrasonic Sensor

This submodule provides an interface to a simulated ultrasonic sensor.

commands.RangeSensorCreateUltrasonicArray(parent=None, min_range: float = 0.4, max_range: float = 100.0, draw_points: bool = False, draw_lines: bool = False, horizontal_fov: float = 360.0, vertical_fov: float = 30.0, rotation_rate: float = 20.0, horizontal_resolution: float = 0.4, vertical_resolution: float = 4.0, num_bins: int = 224, use_brdf: bool = False, use_uss_materials: bool = False, emitter_prims: [] = [], firing_group_prims: [] = [])

Commands class to create an ultrasonic array.

Typical usage example:

result, prim = omni.kit.commands.execute(
    "RangeSensorCreateUltrasonicArray",
    path="/UltrasonicArray",
    parent=None,
    min_range=0.4,
    max_range=3.0,
    draw_points=False,
    draw_lines=False,
    horizontal_fov=15.0,
    vertical_fov=10.0,
    horizontal_resolution=0.5,
    vertical_resolution=0.5,
    num_bins=224,
    use_brdf: bool = False,
    use_uss_materials: bool = False,
    emitter_prims=[],
    firing_group_prims=[],
)

commands.RangeSensorCreateUltrasonicEmitter(parent=None, per_ray_intensity: float = 1.0, yaw_offset: float = 0.0, adjacency_list: [] = [])

Commands class to create an ultrasonic emitter.

Typical usage example:

result, prim = omni.kit.commands.execute(
    "RangeSensorCreateUltrasonicEmitter",
    path="/UltrasonicEmitter",
    parent=None,
    per_ray_intensity=1.0,
    yaw_offset=0.0,
    adjacency_list=[],
)

commands.RangeSensorCreateUltrasonicFiringGroup(parent=None, emitter_modes: [] = [], receiver_modes: [] = [])

Commands class to create an ultrasonic firing group.

Typical usage example:

result, prim = omni.kit.commands.execute(
    "RangeSensorCreateUltrasonicFiringGroup",
    path="/UltrasonicFiringGroup",
    parent=None,
    emitter_modes=[],
    receiver_modes=[],
)

Example

To use this interface, you must first call the acquire interface function. It is also recommended to use the is_ultrasonic_sensor function to check if a ultrasonic sensor exists at the given USD path

from omni.isaac.range_sensor._range_sensor import acquire_ultrasonic_sensor_interface
ultrasonic_sensor_interface = acquire_ultrasonic_sensor_interface()
if ultrasonic_sensor_interface.is_ultrasonic_sensor("/World/UltrasonicArray"):
    print("ultrasonic sensor is valid")

_range_sensor.acquire_ultrasonic_sensor_interface(plugin_name: str = None, library_path: str = None) → omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface

_range_sensor.release_ultrasonic_sensor_interface(arg0: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface) → None

class UltrasonicSensorInterface

get_active_envelope_array(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str) → List[List[float]]

get_azimuth_data(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The azimuth angle in radians for each column
Return type: numpy.ndarray

get_depth_data(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str, arg1: int) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The distance from the sensor to the hit for each beam in uint16 and scaled by min and max distance
Return type: numpy.ndarray

get_emitter_firing_info(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str) → List[carb._carb.Int2]

Parameters: arg0 (str) – USD path to sensor as a string
Returns: emitter firing info for the current group fired
Return type: list

get_envelope(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str, arg1: int) → object

Parameters

arg0 (str) – USD path to sensor as a string
arg1 (int) – array index of the emitter that we are querying

Returns

The binned timestamps of returns from sensor emission

Return type

numpy.ndarray

get_envelope_array(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The array of envelopes from the ultrasonic sensor
Return type: numpy.ndarray

get_intensity_data(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str, arg1: int) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The observed specular intensity of each beam, 255 if hit, 0 if not
Return type: numpy.ndarray

get_linear_depth_data(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str, arg1: int) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The distance from the sensor to the hit for each beam in meters
Return type: numpy.ndarray

get_num_cols(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str) → int

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The number of horizontal scans of the sensor, 0 if error occurred
Return type: int

get_num_emitters(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str) → int

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The number of emitters on the sensor array, 0 if error occurred
Return type: int

get_num_rows(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str) → int

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The number of horizontal scans of the sensor, 0 if error occurred
Return type: int

get_receiver_firing_info(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str) → List[carb._carb.Int2]

Parameters: arg0 (str) – USD path to sensor as a string
Returns: receiver info for the current group fired
Return type: list

get_zenith_data(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The zenith angle in radians for each row
Return type: numpy.ndarray

is_ultrasonic_sensor(self: omni.isaac.range_sensor._range_sensor.UltrasonicSensorInterface, arg0: str) → bool

Parameters: arg0 (str) – USD path to sensor as a string
Returns: True if a sensor exists at the give path, False otherwise
Return type: bool

Generic Sensor

This submodule provides an interface to a simulated generic sensor.

commands.RangeSensorCreateGeneric(parent=None, min_range: float = 0.4, max_range: float = 100.0, draw_points: bool = False, draw_lines: bool = False, sampling_rate: int = 60)

Commands class to create a generic range sensor.

Typical usage example:

result, prim = omni.kit.commands.execute(
    "RangeSensorCreateGeneric",
    path="/GenericSensor",
    parent=None,
    min_range=0.4,
    max_range=100.0,
    draw_points=False,
    draw_lines=False,
    sampling_rate=60,
)

Example

To use this interface, you must first call the acquire interface function. It is also recommended to use the is_generic_sensor function to check if a generic sensor exists at the given USD path

from omni.isaac.range_sensor._range_sensor import acquire_generic_sensor_interface
generic_sensor_interface = acquire_generic_sensor_interface()
if generic_sensor_interface.is_generic_sensor("/World/GenericSensor"):
    print("generic sensor is valid")

_range_sensor.acquire_generic_sensor_interface(plugin_name: str = None, library_path: str = None) → omni.isaac.range_sensor._range_sensor.GenericSensorInterface

_range_sensor.release_generic_sensor_interface(arg0: omni.isaac.range_sensor._range_sensor.GenericSensorInterface) → None

class GenericSensorInterface

get_azimuth_data(self: omni.isaac.range_sensor._range_sensor.GenericSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The azimuth angle in radians for each column
Return type: numpy.ndarray

get_depth_data(self: omni.isaac.range_sensor._range_sensor.GenericSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The distance from the sensor to the hit for each beam in uint16 and scaled by min and max distance
Return type: numpy.ndarray

get_intensity_data(self: omni.isaac.range_sensor._range_sensor.GenericSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The observed specular intensity of each beam, 255 if hit, 0 if not
Return type: numpy.ndarray

get_linear_depth_data(self: omni.isaac.range_sensor._range_sensor.GenericSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The distance from the sensor to the hit for each beam in meters
Return type: numpy.ndarray

get_num_samples_ticked(self: omni.isaac.range_sensor._range_sensor.GenericSensorInterface, arg0: str) → int

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The number of sample points the sensor completed in the last simulation step, 0 if error occurred.
Return type: int

get_point_cloud_data(self: omni.isaac.range_sensor._range_sensor.GenericSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The hit position in xyz relative to the sensor origin, not accounting for individual ray offsets
Return type: numpy.ndarray

get_zenith_data(self: omni.isaac.range_sensor._range_sensor.GenericSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD path to sensor as a string
Returns: The zenith angle in radians for each row
Return type: numpy.ndarray

is_generic_sensor(self: omni.isaac.range_sensor._range_sensor.GenericSensorInterface, arg0: str) → bool

Parameters: arg0 (str) – USD path to sensor as a string
Returns: True if a sensor exists at the give path, False otherwise
Return type: bool

send_next_batch(self: omni.isaac.range_sensor._range_sensor.GenericSensorInterface, arg0: str) → bool: ready for next batch

set_next_batch_offsets(self: omni.isaac.range_sensor._range_sensor.GenericSensorInterface, arg0: str, arg1: numpy.ndarray[float32]) → None

Parameters

arg0 (str) – USD path to sensor as a string
arg1 (numpy.ndaray) – The offset xyz, a 2D array for individual rays, or 1D array for a constant offset

set_next_batch_rays(self: omni.isaac.range_sensor._range_sensor.GenericSensorInterface, arg0: str, arg1: numpy.ndarray[float32]) → None

Parameters

arg0 (str) – USD path to sensor as a string
arg1 (numpy.ndaray) – The azimuth and zenith angles in radians for each column

Generated USD Schema API

The following USD Schema API was automatically generated, it is provided here as a reference

class Generic

Bases: omni.isaac.RangeSensorSchema.RangeSensor

CreateSamplingRateAttr()

CreateStreamingAttr()

static Define()

static Get()

GetSamplingRateAttr()

static GetSchemaAttributeNames()

GetStreamingAttr()

class Lidar

Bases: omni.isaac.RangeSensorSchema.RangeSensor

CreateEnableSemanticsAttr()

CreateHighLodAttr()

CreateHorizontalFovAttr()

CreateHorizontalResolutionAttr()

CreateRotationRateAttr()

CreateVerticalFovAttr()

CreateVerticalResolutionAttr()

CreateYawOffsetAttr()

static Define()

static Get()

GetEnableSemanticsAttr()

GetHighLodAttr()

GetHorizontalFovAttr()

GetHorizontalResolutionAttr()

GetRotationRateAttr()

static GetSchemaAttributeNames()

GetVerticalFovAttr()

GetVerticalResolutionAttr()

GetYawOffsetAttr()

class RangeSensor

Bases: pxr.UsdGeom.Xformable

CreateDrawLinesAttr()

CreateDrawPointsAttr()

CreateEnabledAttr()

CreateMaxRangeAttr()

CreateMinRangeAttr()

static Get()

GetDrawLinesAttr()

GetDrawPointsAttr()

GetEnabledAttr()

GetMaxRangeAttr()

GetMinRangeAttr()

static GetSchemaAttributeNames()

class UltrasonicArray

Bases: omni.isaac.RangeSensorSchema.RangeSensor

CreateAttenuationAlphaAttr()

CreateEmitterPrimsRel()

CreateFiringGroupsRel()

CreateHorizontalFovAttr()

CreateHorizontalResolutionAttr()

CreateNumBinsAttr()

CreateUseBRDFAttr()

CreateUseDistAttenuationAttr()

CreateUseUSSMaterialsForBRDFAttr()

CreateVerticalFovAttr()

CreateVerticalResolutionAttr()

static Define()

static Get()

GetAttenuationAlphaAttr()

GetEmitterPrimsRel()

GetFiringGroupsRel()

GetHorizontalFovAttr()

GetHorizontalResolutionAttr()

GetNumBinsAttr()

static GetSchemaAttributeNames()

GetUseBRDFAttr()

GetUseDistAttenuationAttr()

GetUseUSSMaterialsForBRDFAttr()

GetVerticalFovAttr()

GetVerticalResolutionAttr()

class UltrasonicEmitter

Bases: pxr.UsdGeom.Xformable

CreateAdjacencyListAttr()

CreatePerRayIntensityAttr()

CreateYawOffsetAttr()

static Define()

static Get()

GetAdjacencyListAttr()

GetPerRayIntensityAttr()

static GetSchemaAttributeNames()

GetYawOffsetAttr()

class UltrasonicFiringGroup

Bases: pxr.Usd.Typed

CreateEmitterModesAttr()

CreateReceiverModesAttr()

static Define()

static Get()

GetEmitterModesAttr()

GetReceiverModesAttr()

static GetSchemaAttributeNames()

class UltrasonicMaterialAPI

Bases: pxr.Usd.APISchemaBase

static Apply()

CreateBase_colorAttr()

CreateMetallicAttr()

CreatePerceptualRoughnessAttr()

CreateReflectanceAttr()

static Get()

GetBase_colorAttr()

GetMetallicAttr()

GetPerceptualRoughnessAttr()

GetReflectanceAttr()

static GetSchemaAttributeNames()

Omnigraph Nodes

IsaacReadLidarBeams

[‘This node reads from the lidar sensor and holds data buffers for a full scan’]

Inputs

execIn (execution): The input execution port.
lidarPrim (bundle): Usd prim reference to the lidar prim.

Outputs

execOut (execution): Output execution triggers when lidar sensor has completed a full scan.
horizontalFov (float): Horizontal Field of View in degrees.
verticalFov (float): Vertical Field of View in degrees.
horizontalResolution (float): Degrees in between rays for horizontal axis.
verticalResolution (float): Degrees in between rays for vertical axis.
depthRange (float[2]): The min and max range for sensor to detect a hit [min, max].
rotationRate (float): Rotation rate of sensor in Hz.
linearDepthData (float[]): Buffer array containing linear depth data.
intensitiesData (uchar[]): Buffer array containing intensities data.
numRows (int): Number of rows in buffers.
numCols (int): Number of columns in buffers.
azimuthRange (float[2]): The azimuth range [min, max].
zenithRange (float[2]): The zenith range [min, max].

IsaacReadLidarPointCloud

[‘This node reads from the lidar sensor and holds point cloud data buffers for a full scan’]

Inputs

execIn (execution): The input execution port.
lidarPrim (bundle): Usd prim reference to the lidar prim.

Outputs

execOut (execution): Output execution triggers when lidar sensor has completed a full scan.
pointCloudData (pointf[3][]): Buffer of 3d points containing point cloud data.