Isaac Read IMU Node

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

Installation

To use this node enable omni.isaac.sensor in the Extension Manager.

Inputs

Name

Type

Descripton

Default

Exec In (inputs:execIn)

execution

The input execution port

None

IMU Prim (inputs:imuPrim)

target

Usd prim reference to the IMU prim

None

Read Gravity (inputs:readGravity)

bool

True to read gravitational acceleration in the measurement, False to ignore gravitational acceleration

True

Use Latest Data (inputs:useLatestData)

bool

True to use the latest data from the physics step, False to use the data measured by the sensor

False

Outputs

Name

Type

Descripton

Default

Angular Velocity Vector (outputs:angVel)

vectord[3]

Angular velocity IMU reading

[0.0, 0.0, 0.0]

Exec Out (outputs:execOut)

execution

Output execution triggers when sensor has data

None

Linear Acceleration Vector (outputs:linAcc)

vectord[3]

Linear acceleration IMU reading

[0.0, 0.0, 0.0]

Sensor Orientation Quaternion (outputs:orientation)

quatd[4]

Sensor orientation as quaternion

[0.0, 0.0, 0.0, 1.0]

Sensor Time (outputs:sensorTime)

float

Timestamp of the sensor reading

0

Metadata

Name

Value

Unique ID

omni.isaac.sensor.IsaacReadIMU

Version

1

Extension

omni.isaac.sensor

Icon

ogn/icons/omni.isaac.sensor.IsaacReadIMU.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

Isaac Read IMU Node

Categories

isaacSensor

Generated Class Name

OgnIsaacReadIMUDatabase

Python Module

omni.isaac.sensor