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) |
|
The input execution port |
None |
IMU Prim (inputs:imuPrim) |
|
Usd prim reference to the IMU prim |
None |
Read Gravity (inputs:readGravity) |
|
True to read gravitational acceleration in the measurement, False to ignore gravitational acceleration |
True |
Use Latest Data (inputs:useLatestData) |
|
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) |
|
Angular velocity IMU reading |
[0.0, 0.0, 0.0] |
Exec Out (outputs:execOut) |
|
Output execution triggers when sensor has data |
None |
Linear Acceleration Vector (outputs:linAcc) |
|
Linear acceleration IMU reading |
[0.0, 0.0, 0.0] |
Sensor Orientation Quaternion (outputs:orientation) |
|
Sensor orientation as quaternion |
[0.0, 0.0, 0.0, 1.0] |
Sensor Time (outputs:sensorTime) |
|
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 |