Isaac Sensor Extension [omni.isaac.sensor]

The Isaac Sensor Extension provides a set of simulated physics based sensors like contact sensor, inertial measurement unit (IMU) sensor and interfaces to access them in the simulator

Contact Sensor

class ContactSensor(prim_path: str, name: Optional[str] = 'contact_sensor', frequency: Optional[int] = None, dt: Optional[float] = None, translation: Optional[numpy.ndarray] = None, position: Optional[numpy.ndarray] = None, min_threshold: Optional[float] = None, max_threshold: Optional[float] = None, radius: Optional[float] = None)

add_raw_contact_data_to_frame() → None

apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) → None

Used to apply visual material to the held prim and optionally its descendants.

Parameters

visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

get_applied_visual_material() → omni.isaac.core.materials.visual_material.VisualMaterial

Returns the current applied visual material in case it was applied using apply_visual_material OR: it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns: the current applied visual material if its type is currently supported.
Return type: VisualMaterial

get_current_frame() → dict

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Returns: returns the default state of the prim (position and orientation) that is used after each reset.
Return type: XFormPrimState

get_dt() → float

get_frequency() → int

get_local_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the local frame (the prim’s parent frame).

Returns

first index is position in the local frame of the prim. shape is (3, ).: second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray

Gets prim’s scale with respect to the local frame (the parent’s frame).

Returns: scale applied to the prim’s dimensions in the local frame. shape is (3, ).
Return type: np.ndarray

get_max_threshold() → float

get_min_threshold() → float

get_radius() → float

get_visibility() → bool

Returns: true if the prim is visible in stage. false otherwise.
Return type: bool

get_world_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame.

Returns

first index is position in the world frame of the prim. shape is (3, ).: second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray

Gets prim’s scale with respect to the world’s frame.

Returns: scale applied to the prim’s dimensions in the world frame. shape is (3, ).
Return type: np.ndarray

initialize(physics_sim_view=None) → None

is_paused() → bool

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

is_visual_material_applied() → bool

Returns: True if there is a visual material applied. False otherwise.
Return type: bool

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

_summary_

Returns: _description_
Return type: bool

pause() → None

post_reset() → None: Resets the prim to its default state (position and orientation).

property prim: pxr.Usd.Prim: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str: Returns: str: prim path in the stage.

remove_raw_contact_data_from_frame() → None

resume() → None

set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets the default state of the prim (position and orientation), that will be used after each reset.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_dt(value: float) → None

set_frequency(value: int) → None

set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the local frame (the prim’s parent frame).

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_local_scale(scale: Optional[Sequence[float]]) → None

Sets prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters: scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

set_max_threshold(value: float) → None

set_min_threshold(value: float) → None

set_radius(value: float) → None

set_visibility(visible: bool) → None

Sets the visibility of the prim in stage.

Parameters: visible (bool) – flag to set the visibility of the usd prim in stage.

set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

IMU sensor

class IMUSensor(prim_path: str, name: Optional[str] = 'imu_sensor', frequency: Optional[int] = None, dt: Optional[float] = None, translation: Optional[numpy.ndarray] = None, position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)

apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) → None

Used to apply visual material to the held prim and optionally its descendants.

Parameters

visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

get_applied_visual_material() → omni.isaac.core.materials.visual_material.VisualMaterial

Returns the current applied visual material in case it was applied using apply_visual_material OR: it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns: the current applied visual material if its type is currently supported.
Return type: VisualMaterial

get_current_frame() → dict

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Returns: returns the default state of the prim (position and orientation) that is used after each reset.
Return type: XFormPrimState

get_dt() → float

get_frequency() → int

get_local_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the local frame (the prim’s parent frame).

Returns

first index is position in the local frame of the prim. shape is (3, ).: second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray

Gets prim’s scale with respect to the local frame (the parent’s frame).

Returns: scale applied to the prim’s dimensions in the local frame. shape is (3, ).
Return type: np.ndarray

get_visibility() → bool

Returns: true if the prim is visible in stage. false otherwise.
Return type: bool

get_world_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame.

Returns

first index is position in the world frame of the prim. shape is (3, ).: second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray

Gets prim’s scale with respect to the world’s frame.

Returns: scale applied to the prim’s dimensions in the world frame. shape is (3, ).
Return type: np.ndarray

initialize(physics_sim_view=None) → None

is_paused() → bool

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

is_visual_material_applied() → bool

Returns: True if there is a visual material applied. False otherwise.
Return type: bool

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

_summary_

Returns: _description_
Return type: bool

pause() → None

post_reset() → None: Resets the prim to its default state (position and orientation).

property prim: pxr.Usd.Prim: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str: Returns: str: prim path in the stage.

resume() → None

set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets the default state of the prim (position and orientation), that will be used after each reset.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_dt(value: float) → None

set_frequency(value: int) → None

set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the local frame (the prim’s parent frame).

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_local_scale(scale: Optional[Sequence[float]]) → None

Sets prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters: scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

set_visibility(visible: bool) → None

Sets the visibility of the prim in stage.

Parameters: visible (bool) – flag to set the visibility of the usd prim in stage.

set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Lidar RTX sensor

class LidarRtx(prim_path: str, name: str = 'lidar_rtx', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, config_file_name: Optional[str] = None, firing_frequency: Optional[int] = None, firing_dt: Optional[float] = None, rotation_frequency: Optional[int] = None, rotation_dt: Optional[float] = None, resolution: Optional[Tuple[float, float]] = None, valid_range: Optional[Tuple[float, float]] = None, scan_type: Optional[str] = None, elevation_range: Optional[Tuple[float, float]] = None, azimuth_range: Optional[Tuple[float, float]] = None, range_resolution: Optional[float] = None, range_accuracy: Optional[float] = None, avg_power: Optional[float] = None, wave_length: Optional[float] = None, pulse_time: Optional[float] = None)

add_azimuth_data_to_frame()

add_elevation_data_to_frame()

add_intensities_data_to_frame()

add_linear_depth_data_to_frame()

add_point_cloud_data_to_frame()

add_range_data_to_frame()

apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) → None

Used to apply visual material to the held prim and optionally its descendants.

Parameters

visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

disable_visualization()

enable_visualization()

get_applied_visual_material() → omni.isaac.core.materials.visual_material.VisualMaterial

Returns the current applied visual material in case it was applied using apply_visual_material OR: it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns: the current applied visual material if its type is currently supported.
Return type: VisualMaterial

get_azimuth_range() → Tuple[float, float]

get_current_frame() → dict

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Returns: returns the default state of the prim (position and orientation) that is used after each reset.
Return type: XFormPrimState

get_depth_range() → Tuple[float, float]

get_horizontal_fov() → float

get_horizontal_resolution() → float

get_local_pose() → None

Gets prim’s pose with respect to the local frame (the prim’s parent frame).

Returns

first index is position in the local frame of the prim. shape is (3, ).: second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray

Gets prim’s scale with respect to the local frame (the parent’s frame).

Returns: scale applied to the prim’s dimensions in the local frame. shape is (3, ).
Return type: np.ndarray

get_num_cols() → int

get_num_rows() → int

get_rotation_frequency() → float

get_visibility() → bool

Returns: true if the prim is visible in stage. false otherwise.
Return type: bool

get_world_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame.

Returns

first index is position in the world frame of the prim. shape is (3, ).: second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray

Gets prim’s scale with respect to the world’s frame.

Returns: scale applied to the prim’s dimensions in the world frame. shape is (3, ).
Return type: np.ndarray

initialize(physics_sim_view=None) → None

is_paused() → bool

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

is_visual_material_applied() → bool

Returns: True if there is a visual material applied. False otherwise.
Return type: bool

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

_summary_

Returns: _description_
Return type: bool

pause() → None

post_reset() → None: Resets the prim to its default state (position and orientation).

property prim: pxr.Usd.Prim: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str: Returns: str: prim path in the stage.

remove_azimuth_data_from_frame()

remove_elevation_data_from_frame()

remove_intensities_data_from_frame()

remove_linear_depth_data_from_frame()

remove_point_cloud_data_from_frame()

remove_range_data_from_frame()

resume() → None

set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets the default state of the prim (position and orientation), that will be used after each reset.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the local frame (the prim’s parent frame).

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_local_scale(scale: Optional[Sequence[float]]) → None

Sets prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters: scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

set_visibility(visible: bool) → None

Sets the visibility of the prim in stage.

Parameters: visible (bool) – flag to set the visibility of the usd prim in stage.

set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Rotating Lidar PhysX sensor

class RotatingLidarPhysX(prim_path: str, name: str = 'rotating_lidar_physX', rotation_frequency: Optional[float] = None, rotation_dt: Optional[float] = None, position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, fov: Optional[Tuple[float, float]] = None, resolution: Optional[Tuple[float, float]] = None, valid_range: Optional[Tuple[float, float]] = None)

add_azimuth_data_to_frame() → None

add_depth_data_to_frame() → None

add_intensity_data_to_frame() → None

add_linear_depth_data_to_frame() → None

add_point_cloud_data_to_frame() → None

add_semantics_data_to_frame() → None

add_zenith_data_to_frame() → None

apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) → None

Used to apply visual material to the held prim and optionally its descendants.

Parameters

visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

disable_semantics() → None

disable_visualization() → None

enable_semantics() → None

enable_visualization(high_lod: bool = False, draw_points: bool = True, draw_lines: bool = True) → None

get_applied_visual_material() → omni.isaac.core.materials.visual_material.VisualMaterial

Returns the current applied visual material in case it was applied using apply_visual_material OR: it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns: the current applied visual material if its type is currently supported.
Return type: VisualMaterial

get_current_frame() → dict

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Returns: returns the default state of the prim (position and orientation) that is used after each reset.
Return type: XFormPrimState

get_fov() → Tuple[float, float]

get_local_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the local frame (the prim’s parent frame).

Returns

first index is position in the local frame of the prim. shape is (3, ).: second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray

Gets prim’s scale with respect to the local frame (the parent’s frame).

Returns: scale applied to the prim’s dimensions in the local frame. shape is (3, ).
Return type: np.ndarray

get_num_cols() → int

get_num_cols_in_last_step() → int

get_num_rows() → int

get_resolution() → float

get_rotation_frequency() → int

get_valid_range() → Tuple[float, float]

get_visibility() → bool

Returns: true if the prim is visible in stage. false otherwise.
Return type: bool

get_world_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame.

Returns

first index is position in the world frame of the prim. shape is (3, ).: second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray

Gets prim’s scale with respect to the world’s frame.

Returns: scale applied to the prim’s dimensions in the world frame. shape is (3, ).
Return type: np.ndarray

initialize(physics_sim_view=None) → None

is_paused() → bool

is_semantics_enabled() → bool

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

is_visual_material_applied() → bool

Returns: True if there is a visual material applied. False otherwise.
Return type: bool

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

_summary_

Returns: _description_
Return type: bool

pause() → None

post_reset() → None: Resets the prim to its default state (position and orientation).

property prim: pxr.Usd.Prim: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str: Returns: str: prim path in the stage.

remove_azimuth_data_from_frame() → None

remove_depth_data_from_frame() → None

remove_intensity_data_from_frame() → None

remove_linear_depth_data_from_frame() → None

remove_point_cloud_data_from_frame() → None

remove_semantics_data_from_frame() → None

remove_zenith_data_from_frame() → None

resume() → None

set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets the default state of the prim (position and orientation), that will be used after each reset.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_fov(value: Tuple[float, float]) → None

set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the local frame (the prim’s parent frame).

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_local_scale(scale: Optional[Sequence[float]]) → None

Sets prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters: scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

set_resolution(value: float) → None

set_rotation_frequency(value: int) → None

set_valid_range(value: Tuple[float, float]) → None

set_visibility(visible: bool) → None

Sets the visibility of the prim in stage.

Parameters: visible (bool) – flag to set the visibility of the usd prim in stage.

set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Camera sensor

class Camera(prim_path: str, name: str = 'camera', frequency: Optional[int] = None, dt: Optional[str] = None, resolution: Optional[Tuple[int, int]] = None, position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None)

Provides high level functions to deal with a camera prim and its attributes/ properties. If there is a camera prim present at the path, it will use it. Otherwise, a new Camera prim at the specified prim path will be created.

Parameters

prim_path (str) – prim path of the Camera Prim to encapsulate or create.
name (str, optional) – shortname to be used as a key by Scene class. Note: needs to be unique if the object is added to the Scene. Defaults to “camera”.
frequency (Optional[int], optional) – Frequency of the sensor (i.e: how often is the data frame updated). Defaults to None.
dt (Optional[str], optional) – dt of the sensor (i.e: period at which a the data frame updated). . Defaults to None.
resolution (Optional[Tuple[int, int]], optional) – resolution of the camera (width, height). Defaults to None.
position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world/ local frame of the prim (depends if translation or position is specified). quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

add_bounding_box_2d_loose_to_frame() → None

add_bounding_box_2d_tight_to_frame() → None

add_distance_to_camera_to_frame() → None

add_distance_to_image_plane_to_frame() → None

add_instance_id_segmentation_to_frame() → None

add_instance_segmentation_to_frame() → None

add_motion_vectors_to_frame() → None

add_normals_to_frame() → None

add_occlusion_to_frame() → None

add_pointcloud_to_frame(include_unlabelled: bool = False)

add_semantic_segmentation_to_frame() → None

apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) → None

Used to apply visual material to the held prim and optionally its descendants.

Parameters

visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

get_applied_visual_material() → omni.isaac.core.materials.visual_material.VisualMaterial

Returns the current applied visual material in case it was applied using apply_visual_material OR: it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns: the current applied visual material if its type is currently supported.
Return type: VisualMaterial

get_aspect_ratio() → float

Returns: ratio between width and height
Return type: float

get_clipping_range() → Tuple[float, float]

Returns: near_distance and far_distance respectively.
Return type: Tuple[float, float]

get_current_frame() → dict

Returns: returns the current frame of data
Return type: dict

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Returns: returns the default state of the prim (position and orientation) that is used after each reset.
Return type: XFormPrimState

get_dt() → float

Returns: gets the dt to acquire new data frames
Return type: float

get_fisheye_polynomial_properties() → Tuple[float, float, float, float, float, List]

Returns

nominal_width, nominal_height, optical_centre_x,: optical_centre_y, max_fov and polynomial respectively.

Return type

Tuple[float, float, float, float, float, List]

get_focal_length() → float

Returns: Longer Lens Lengths Narrower FOV, Shorter Lens Lengths Wider FOV
Return type: float

get_focus_distance() → float

Returns: Distance from the camera to the focus plane (in stage units).
Return type: float

get_frequency() → float

Returns: gets the frequency to acquire new data frames
Return type: float

get_horizontal_aperture() → float: _ :returns: Emulates sensor/film width on a camera :rtype: float

get_horizontal_fov() → float

Returns: horizontal field of view in pixels
Return type: float

get_image_coords_from_world_points(points_3d: numpy.ndarray) → numpy.ndarray

Using pinhole perspective projection, this method projects 3d points in the isaac world frame to the image: plane giving the pixel coordinates [[0, width], [0, height]]

Parameters: points_3d (np.ndarray) – 3d points (X, Y, Z) in isaac world frame. shape is (n, 3) where n is the number of points.
Returns: 2d points (u, v) corresponds to the pixel coordinates. shape is (n, 2) where n is the number of points.
Return type: np.ndarray

get_intrinsics_matrix() → numpy.ndarray

Returns: the intrinsics of the camera (used for calibration)
Return type: np.ndarray

get_lens_aperture() → float

Returns: controls lens aperture (i.e focusing). 0 turns off focusing.
Return type: float

get_local_pose() → None

Gets prim’s pose with respect to the local frame (the prim’s parent frame).

Returns

first index is position in the local frame of the prim. shape is (3, ).: second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray

Gets prim’s scale with respect to the local frame (the parent’s frame).

Returns: scale applied to the prim’s dimensions in the local frame. shape is (3, ).
Return type: np.ndarray

get_projection_mode() → str

Returns: perspective or orthographic.
Return type: str

get_projection_type() → str

Returns: pinhole, fisheyeOrthographic, fisheyeEquidistant, fisheyeEquisolid, fisheyePolynomial or fisheyeSpherical
Return type: str

get_resolution() → Tuple[int, int]

Returns: width and height respectively.
Return type: Tuple[int, int]

get_rgba() → numpy.ndarray

get_shutter_properties() → Tuple[float, float]

Returns: delay_open and delay close respectively.
Return type: Tuple[float, float]

get_stereo_role() → str

Returns: mono, left or right.
Return type: str

get_vertical_aperture() → float

Returns: Emulates sensor/film height on a camera.
Return type: float

get_vertical_fov() → float

Returns: vertical field of view in pixels
Return type: float

get_view_matrix_ros()

3D points in World Frame -> 3D points in Camera Ros Frame

Returns

the view matrix that transforms 3d points in the world frame to 3d points in the camera frame: with ros camera convention.

Return type

np.ndarray

get_visibility() → bool

Returns: true if the prim is visible in stage. false otherwise.
Return type: bool

get_world_points_from_image_coords(points_2d: numpy.ndarray, depth: numpy.ndarray)

Using pinhole perspective projection, this method does the inverse projection given the depth of the: pixels

Parameters

points_2d (np.ndarray) – 2d points (u, v) corresponds to the pixel coordinates. shape is (n, 2) where n is the number of points.
depth (np.ndarray) – depth corresponds to each of the pixel coords. shape is (n,)

Returns

(n, 3) 3d points (X, Y, Z) in isaac world frame. shape is (n, 3) where n is the number of points.

Return type

np.ndarray

get_world_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame.

Returns

first index is position in the world frame of the prim. shape is (3, ).: second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray

Gets prim’s scale with respect to the world’s frame.

Returns: scale applied to the prim’s dimensions in the world frame. shape is (3, ).
Return type: np.ndarray

initialize(physics_sim_view=None) → None

To be called before using this class after a reset of the world

Parameters: physics_sim_view (_type_, optional) – _description_. Defaults to None.

is_paused() → bool

Returns: is data collection paused.
Return type: bool

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

is_visual_material_applied() → bool

Returns: True if there is a visual material applied. False otherwise.
Return type: bool

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

_summary_

Returns: _description_
Return type: bool

pause() → None: pauses data collection and updating the data frame

post_reset() → None: Resets the prim to its default state (position and orientation).

property prim: pxr.Usd.Prim: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str: Returns: str: prim path in the stage.

remove_bounding_box_2d_loose_from_frame() → None

remove_bounding_box_2d_tight_from_frame() → None

remove_distance_to_camera_from_frame() → None

remove_distance_to_image_plane_from_frame() → None

remove_instance_id_segmentation_from_frame() → None

remove_instance_segmentation_from_frame() → None

remove_motion_vectors_from_frame() → None

remove_normals_from_frame() → None

remove_occlusion_from_frame() → None

remove_pointcloud_from_frame() → None

remove_semantic_segmentation_from_frame() → None

resume() → None: resumes data collection and updating the data frame

set_clipping_range(near_distance: Optional[float] = None, far_distance: Optional[float] = None) → None

Clips the view outside of both near and far range values.

Parameters

near_distance (Optional[float], optional) – value to be used for near clipping. Defaults to None.
far_distance (Optional[float], optional) – value to be used for far clipping. Defaults to None.

set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets the default state of the prim (position and orientation), that will be used after each reset.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_dt(value: float) → None

Parameters: value (float) – sets the dt to acquire new data frames

set_fisheye_polynomial_properties(nominal_width: Optional[float], nominal_height: Optional[float], optical_centre_x: Optional[float], optical_centre_y: Optional[float], max_fov: Optional[float], polynomial: Optional[Sequence[float]]) → None

Parameters

nominal_width (Optional[float]) – Rendered Width (pixels)
nominal_height (Optional[float]) – Rendered Height (pixels)
optical_centre_x (Optional[float]) – Horizontal Render Position (pixels)
optical_centre_y (Optional[float]) – Vertical Render Position (pixels)
max_fov (Optional[float]) – maximum field of view (pixels)
polynomial (Optional[Sequence[float]]) – polynomial equation coefficients (sequence of 5 numbers) starting from A0, A1, A2, A3, A4

set_focal_length(value: float)

Parameters: value (float) – Longer Lens Lengths Narrower FOV, Shorter Lens Lengths Wider FOV

set_focus_distance(value: float)

The distance at which perfect sharpness is achieved.

Parameters: value (float) – Distance from the camera to the focus plane (in stage units).

set_frequency(value: int) → None

Parameters: value (int) – sets the frequency to acquire new data frames

set_horizontal_aperture(value: float) → None

Parameters: value (Optional[float], optional) – Emulates sensor/film width on a camera. Defaults to None.

set_lens_aperture(value: float)

Controls Distance Blurring. Lower Numbers decrease focus range, larger: numbers increase it.

Parameters: value (float) – controls lens aperture (i.e focusing). 0 turns off focusing.

set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the local frame (the prim’s parent frame).

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_local_scale(scale: Optional[Sequence[float]]) → None

Sets prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters: scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

set_projection_mode(value: str) → None

Sets camera to perspective or orthographic mode.

Parameters: value (str) – perspective or orthographic.

set_projection_type(value: str) → None

Parameters: value (str) – pinhole: Standard Camera Projection (Disable Fisheye) fisheyeOrthographic: Full Frame using Orthographic Correction fisheyeEquidistant: Full Frame using Equidistant Correction fisheyeEquisolid: Full Frame using Equisolid Correction fisheyePolynomial: 360 Degree Spherical Projection fisheyeSpherical: 360 Degree Full Frame Projection

set_resolution(value: Tuple[int, int]) → None

Parameters: value (Tuple[int, int]) – width and height respectively.

set_shutter_properties(delay_open: Optional[float] = None, delay_close: Optional[float] = None) → None

Parameters

delay_open (Optional[float], optional) – Used with Motion Blur to control blur amount, increased values delay shutter opening. Defaults to None.
delay_close (Optional[float], optional) – Used with Motion Blur to control blur amount, increased values forward the shutter close. Defaults to None.

set_stereo_role(value: str) → None

Parameters: value (str) – mono, left or right.

set_vertical_aperture(value: float) → None

Parameters: value (Optional[float], optional) – Emulates sensor/film height on a camera. Defaults to None.

set_visibility(visible: bool) → None

Sets the visibility of the prim in stage.

Parameters: visible (bool) – flag to set the visibility of the usd prim in stage.

set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Contact Sensor Interface

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

commands.IsaacSensorCreateContactSensor(parent: str = None, visualize: bool = False, min_threshold: float = 0, max_threshold: float = 100000, color: pxr.Gf.Vec4f = Gf.Vec4f(1.0, 1.0, 1.0, 1.0), radius: float = - 1, sensor_period: float = - 1, translation: pxr.Gf.Vec3d = Gf.Vec3d(0.0, 0.0, 0.0)): Base class for all Commands.

Once the contact sensor is created, you must first acquire this interface and then you can use this interface to access the contact sensor

Also, the offset of the contact sensor is also affect by the parent’s transformations.

from omni.isaac.sensor import _sensor
_cs = _sensor.acquire_contact_sensor_interface()

Please note: if the contact sensor is not initially created under a valid rigid body parent, the contact sensor will not output any valid data even if the contact sensor is later attached to a valid rigid body parent.

Acquiring Extension Interface

_sensor.acquire_contact_sensor_interface(plugin_name: str = None, library_path: str = None) → omni::isaac::sensor::ContactSensorInterface: Acquire Contact Sensor interface. This is the base object that all of the Contact Sensor functions are defined on

_sensor.release_contact_sensor_interface(arg0: omni::isaac::sensor::ContactSensorInterface) → None: Release Contact Sensor interface. Generally this does not need to be called, the Contact Sensor interface is released on extension shutdown

To collect the most recent reading, call the interface get_sensor_sim_reading(/path/to/sensor). The result will be most recent sensor reading.

reading = _cs.get_sensor_sim_reading("/World/Cube/Contact_Sensor")

To collect the readings, call the interface get_sensor_readings(/path/to/sensor). The result will be the accumulated readings since last frame of the simulator. Each reading is timestamped, and contains a boolean flag to tell if the sensor is triggered.

readings = _cs.get_sensor_readings("/World/Cube/Contact_Sensor")

To collect raw reading, call the interface get_contact_sensor_raw_data(/path/to/sensor). The result will return a list of raw contact data for that body.

raw_Contact = _cs.get_contact_sensor_raw_data("/World/Cube/Contact_Sensor")

Output Types

class CsSensorReading

Contact Sensor Reading

property inContact: boolean that flags if the sensor registers a contact. (bool)

property time: timestamp of the reading, in seconds . (float)

property value: sensor force reading value. (float)

class CsRawData

Contact Raw Data

property body0: Body 0 name handle, (int)

property body1: Body 1 name handle, (int)

property dt: timestep during this contact report, (float)

property impulse: impulse, global coordinates , (carb.Float3)

property normal: normal, global coordinates , (carb.Float3)

property position: position, global coordinates, (carb.Float3)

property time: simulation timestamp, (float)

Interface Methods

class ContactSensorInterface

decode_body_name(self: omni.isaac.sensor._sensor.ContactSensorInterface, arg0: int) → str

Decodes the body name pointers from the contact raw data into a string :param arg0: body name handle :type arg0: int

Returns: The body name.
Return type: str

get_contact_sensor_raw_data(self: omni.isaac.sensor._sensor.ContactSensorInterface, arg0: str) → object

Parameters: arg0 (str) – USD Path to contact sensor as string
Returns: The list of contact raw data that contains the specified body that the contact sensor is attached to.
Return type: numpy.array

get_rigid_body_raw_data(self: omni.isaac.sensor._sensor.ContactSensorInterface, arg0: str) → object

Get raw data from a rigid body that have contact report API enabled :param arg0: USD Path to rigid body as string :type arg0: str

Returns: The list of contact raw data that contains the specified body.
Return type: numpy.array

get_sensor_readings(self: omni.isaac.sensor._sensor.ContactSensorInterface, arg0: str) → object

Gets the list of sensor readings for the given sensor, clears the reading buffer once values are acquired :param arg0: USD Path to sensor as string :type arg0: str

Returns: The list of readings for the sensor ready on the buffer.
Return type: numpy.array

get_sensor_readings_size(self: omni.isaac.sensor._sensor.ContactSensorInterface, arg0: str) → int

Gets the number of readings ready on the buffer :param arg0: USD Path to sensor as string :type arg0: str

Returns: Number of readings ready on the buffer.
Return type: int

get_sensor_sim_reading(self: omni.isaac.sensor._sensor.ContactSensorInterface, arg0: str) → omni.isaac.sensor._sensor.CsSensorReading

Parameters: arg0 (str) – USD Path to sensor as string
Returns: The reading for the current simulation time.
Return type: numpy.array

is_contact_sensor(self: omni.isaac.sensor._sensor.ContactSensorInterface, arg0: str) → bool

Parameters: arg0 (str) – USD Path to sensor as string
Returns: True for is contact sensor, False for not contact sensor.
Return type: bool

IMU sensor Interface

This submodule provides an interface to a simulate IMU sensor, which provides linear acceleration and angular velocity data.

A simplified command is provided to create an IMU sensor:

commands.IsaacSensorCreateImuSensor(parent: str = None, visualize: bool = False, sensor_period: float = - 1, translation: pxr.Gf.Vec3d = Gf.Vec3d(0.0, 0.0, 0.0), orientation: pxr.Gf.Quatd = Gf.Quatd(1.0, Gf.Vec3d(0.0, 0.0, 0.0))): Base class for all Commands.

Similiarly, once an IMU sensor is created, you can use this interface to interact with the simulated IMU sensor. You must first call the acquire_imu_sensor_interface.

from omni.isaac.sensor import _sensor
_is = _sensor.acquire_imu_sensor_interface()

Please note: if the IMU sensor is not initially created under a valid rigid body parent, the IMU sensor will not output any valid data even if the IMU sensor is later attached to a valid rigid body parent. Also, the offset and orientation of the IMU sensor is also affect by the parent’s transformations.

Acquiring Extension Interface

_sensor.acquire_imu_sensor_interface(plugin_name: str = None, library_path: str = None) → omni::isaac::sensor::ImuSensorInterface: Acquire Contact Sensor interface. This is the base object that all of the Contact Sensor functions are defined on

_sensor.release_imu_sensor_interface(arg0: omni::isaac::sensor::ImuSensorInterface) → None: Release Contact Sensor interface. Generally this does not need to be called, the Contact Sensor interface is released on extension shutdown

To collect the most recent reading, call the interface get_sensor_sim_reading(/path/to/sensor). The result will be most recent sensor reading.

reading = _is.get_sensor_sim_reading("/World/Cube/Imu_Sensor")

To collect the readings, call the interface get_sensor_readings(/path/to/sensor). The result will be the accumulated readings since last frame of the simulator. Each reading is timestamped, and contains a boolean flag to tell if the sensor is triggered.

readings = _is.get_sensor_readings("/World/Cube/Imu_Sensor")

Output Types

class IsSensorReading

Imu Sensor Reading

property ang_vel_x: Gyroscope reading value x axis, in rad/s. (float)

property ang_vel_y: Gyroscope reading value y axis, in rad/s. (float)

property ang_vel_z: Gyroscope reading value z axis, in rad/s. (float)

property lin_acc_x: Accelerometer reading value x axis, in m/s^2. (float)

property lin_acc_y: Accelerometer reading value y axis, in m/s^2. (float)

property lin_acc_z: Accelerometer reading value z axis, in m/s^2. (float)

property orientation: Orientation quaternion reading (x, y, z, w). (carb.Float4)

property time: timestamp of the reading, in seconds . (float)

Interface Methods

class ImuSensorInterface

get_sensor_readings(self: omni.isaac.sensor._sensor.ImuSensorInterface, arg0: str) → object

Gets the list of sensor readings for the given sensor. Clears the reading buffer once values are acquired. :param arg0: the sensor path :type arg0: char*

Returns: The list of readings for the sensor ready on the buffer.
Return type: numpy.array

get_sensor_readings_size(self: omni.isaac.sensor._sensor.ImuSensorInterface, arg0: str) → int

Gets the number of readings ready on the buffer :param arg0: the sensor path :type arg0: char*

Returns: Number of readings ready on the buffer.
Return type: int

get_sensor_sim_reading(self: omni.isaac.sensor._sensor.ImuSensorInterface, arg0: str) → omni.isaac.sensor._sensor.IsSensorReading

Parameters: arg0 (char*) – the sensor path
Returns: The reading for the current simulation time.
Return type: numpy.array

is_imu_sensor(self: omni.isaac.sensor._sensor.ImuSensorInterface, arg0: str) → bool

Parameters: arg0 (str) – USD Path to sensor as string
Returns: True for is imu sensor, False for not imu sensor.
Return type: bool

Omnigraph Nodes

IsaacComputeRTXLidarPointCloud

[‘This node reads from the an RTX Lidar sensor and holds point cloud data buffers’]

Inputs

execIn (execution): The input execution port.
cpuPointer (uint64): CPU Pointer to LiDAR render result.
keepOnlyPositiveDistance (bool): Keep points only if the return distance is > 0. Default to True.
accuracyErrorAzimuthDeg (float): Accuracy error of azimuth in degrees applied to all points equally.
accuracyErrorElevationDeg (float): Accuracy error of elevation in degrees applied to all points equally.
accuracyErrorPosition (float[3]): Position offset applied to all points equally.
renderProductPath (token): Path of the renderProduct to wait for being rendered.

Outputs

execOut (execution): Output execution triggers when lidar sensor has data.
toWorldMatrix (matrixd[4]): The transform matrix from lidar to world coordinates.
pointCloudData (pointf[3][]): Buffer of 3d points containing point cloud data in Lidar coordinates.
intensity (float[]): intensity [0,1].
range (float[]): range in m.
azimuth (float[]): azimuth in rad [-pi,pi].
elevation (float[]): elevation in rad [-pi/2, pi/2].

IsaacRenderVarToCpuPointer

[‘This node gets a pointer to a render var that is stored on the CPU’]

Inputs

renderVar (token): Name of the renderVar.
exec (execution): Trigger.
renderResults (uint64): Render results pointer.

Outputs

cpuPointer (uint64): Pointer to render var on CPU.
bufferSize (uint64): Size (in bytes) of the buffer.
exec (execution): Executes when the event is received.

IsaacComputeRTXRadarPointCloud

[‘This node reads from the an RTX Radar sensor and holds point cloud data buffers’]

Inputs

execIn (execution): The input execution port.
cpuPointer (uint64): CPU Pointer to Radar render result.
transform (matrixd[4]): The matrix to transform the points by.

Outputs

execOut (execution): Output execution triggers when Radar sensor has data.
transform (matrixd[4]): The input matrix transformed from Radar to World.
syncData (uint64): Pointer to SyncData Sync primitives for syncing with model.
sensorID (uchar): Sensor Id for sensor that generated the scan.
scanIdx (uchar): Scan index for sensors with multi scan support.
timeStampNS (uint64): Scan timestamp in nanoseconds.
cycleCnt (uint64): Scan cycle count.
maxRangeM (float): The max unambiguous range for the scan.
minVelMps (float): The min unambiguous velocity for the scan.
maxVelMps (float): The max unambiguous velocity for the scan.
minAzRad (float): The min unambiguous azimuth for the scan.
maxAzRad (float): The max unambiguous azimuth for the scan.
minElRad (float): The min unambiguous elevation for the scan.
maxElRad (float): The max unambiguous elevation for the scan.
numDetections (uint): The number of valid detections in the array.
pointCloudData (pointf[3][]): Buffer of 3d points containing point cloud data in Radar coordinates.
radialDistance (float[]): Radial distance (m).
radialVelocity (float[]): Radial velocity (m/s).
azimuth (float[]): Azimuth angle (radians).
elevation (float[]): Angle of elevation (radians).
rcs (float[]): Radar cross section in decibels referenced to a square meter (dBsm).
semanticId (uint[]): semantic ID.
materialId (uint[]): material ID.
objectId (uint[]): object ID.

IsaacComputeRTXLidarFlatScan

[‘This node reads from the an RTX Lidar sensor and holds flat scan buffers’]

Inputs

execIn (execution): The input execution port.
cpuPointer (uint64): CPU Pointer to LiDAR render result.

Outputs

execOut (execution): Output execution triggers when lidar sensor has data.
horizontalFov (float): Horizontal Field of View in degrees.
horizontalResolution (float): Degrees in between rays for horizontal 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].

IsaacReadRTXLidarData

[‘This node reads the data straight from the an RTX Lidar sensor.’]

Inputs

execIn (execution): The input execution port.
cpuPointer (uint64): CPU Pointer to LiDAR render result.
keepOnlyPositiveDistance (bool): Keep points only if the return distance is > 0. Default to True.

Outputs

execOut (execution): Output execution triggers when lidar sensor has data.
intensity (float[]): intensity [0,1].
distance (float[]): distance in m.
azimuth (float[]): azimuth in rad [-pi,pi].
elevation (float[]): elevation in rad [-pi/2, pi/2].
velocityMs (pointf[3][]): velocity at hit point in sensor coordinates [m/s].
echoId (uint[]): echo id in ascending order.
emitterId (uint[]): beam/laser detector id.
beamId (uint[]): beam/laser detector id.
materialId (uint[]): hit point material id.
hitPointNormal (pointf[3][]): hit point Normal.
tick (uint[]): tick of point.
objectId (uint64[]): hit point object id.
timeStampNs (uint64[]): absolute timeStamp in nano seconds.

IsaacReadIMU

Node that reads out IMU linear acceleration, angular velocity and orientation data

Inputs

execIn (execution): The input execution port.
imuPrim (bundle): Usd prim reference to the IMU prim.

Outputs

execOut (execution): Output execution triggers when sensor has data.
linAcc (vectord[3]): Linear acceleration IMU reading.
angVel (vectord[3]): Angular velocity IMU reading.
orientation (quatd[4]): Relative orientation as quaternion.

IsaacReadContactSensor

Node that reads out contact sensor data

Inputs

execIn (execution): The input execution port.
csPrim (bundle): USD prim reference to contact sensor prim.

Outputs

execOut (execution): Output execution triggers when sensor has data.
inContact (bool): Bool that registers current sensor contact.
value (float): Contact force value reading (N).

IsaacPrintRTXLidarInfo

[‘process and print the raw RTX lidar data’]

Inputs

execIn (execution): The input execution port.
cpuPointer (uint64): Pointer to LiDAR render result.

IsaacPrintRTXRadarInfo

[‘process and print the raw RTX Radar data’]

Inputs

execIn (execution): The input execution port.
cpuPointer (uint64): Pointer to Radar render result.