Non-Visual Sensors

Isaac Sim models many types of non-visual sensors models, with digital twins found in the Content Browser under Isaac Sim/Sensors, organized into subfolders by manufacturer.

Some non-visual sensor types do not have digital twins. For more information about these sensors, including how to create them from the GUI, follow the links below:

• Contact sensors

• IMU sensors

• Lightbeam sensors

• PhysX Lidars

• RTX Radars

RTX Lidars

RTX Lidars marked as “certified” have Lidar configurations verified by the sensor manufacturer and tested before release.

Some Lidar models feature multiple configurations or profiles, which are implemented as USD Variants. In those cases, the available variants and their characteristics will also be provided as tables in the appropriate section below.

NVIDIA

There are several example Lidar configuration files that ship with Isaac Sim. Note none of these Lidars have a mesh, so only a prim will appear in the Stage window when they are created. To create them via the UI, select the appropriate option below from the menu: Create>Sensors>RTX Lidar>NVIDIA.

• Debug Rotary - a single emitter rotary Lidar configuration, used to debug simple rotary Lidar issues.

• Example Rotary 2D - a 10Hz rotary Lidar configuration with emitters in a single plane.

• Example Rotary - a 10Hz rotary Lidar configuration using a Gaussian beam ray type.

• Example Solid_State - a solid state Lidar configuration.

• Simple Example Solid State - a simple 12-emitter solid state Lidar configuration, used to debug solid state Lidar issues.

HESAI

XT32 SD10

HESAI XT32 SD10 is a high precision, 32 Channels 360 degrees spinning mid range Lidar.

To create the sensor from the menu: Create>Sensors>RTX Lidar>HESAI>XT32 SD10

To create the sensor from the Content Browser: Isaac Sim>Sensors>HESAI>XT32_SD10>HESAI_XT32_SD10.usd

Features and Specification

XT32 SD10 Features

name	XT-32 10hz
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20000
numberOfEmitters	32
nearRangeM	0.05
farRangeM	120.0
rangeResolutionM	0.004
rangeAccuracyM	0.02
minDistBetweenEchos	0.05
minReflectance	0.1
minReflectanceRange	80.0
wavelengthNm	905.0
pulseTimeNs	10
azimuthErrorMean	0.0
azimuthErrorStd	0.015
elevationErrorMean	0.0
elevationErrorStd	0.0
maxReturns	2

Other Features

• Dimensions: 100 mm (Top Diameter) by 103 mm (Bottom Diameter) by 76.0 mm (Height)

Note

For the datasheet and full list of specifications, visit the XT32 SD10 product page.

Ouster

OS0

Ouster OS0 is a high precision Lidar for autonomous vehicles, heavy machinery, robot, and mapping solutions. Isaac Sim has several pre-configured frequencies and resolutions that can be added to the stage easily.

To create the sensor from the menu: Create>Sensors>RTX Lidar>Ouster>OS0, then select the desired sensor configuration.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Ouster>OS0>OS0.usd

Features and Specification

OS0 Rev6 Features

10 Hz

512 Resolution

Variant: OS0_REV6_128ch10hz512res

name	OS0 REV6 128 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	128
nearRangeM	0.3
farRangeM	50.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	20.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS0_REV6_128ch10hz1024res

name	OS0 REV6 128 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.3
farRangeM	50.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	20.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS0_REV6_128ch10hz2048res

name	OS0 REV6 128 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.3
farRangeM	50.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	20.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

20 Hz

512 Resolution

Variant: OS0_REV6_128ch20hz512res

name	OS0 REV6 128 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.3
farRangeM	50.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	20.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS0_REV6_128ch20hz1024res

name	OS0 REV6 128 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.3
farRangeM	50.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	20.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

OS0 Rev7 Features

10 Hz

512 Resolution

Variant: OS0_REV7_128ch10hz512res

name	OS0 REV7 128 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	128
nearRangeM	0.5
farRangeM	75.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	35.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS0_REV7_128ch10hz1024res

name	OS0 REV7 128 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.5
farRangeM	75.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	35.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS0_REV7_128ch10hz2048res

name	OS0 REV7 128 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.5
farRangeM	75.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	35.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

20 Hz

512 Resolution

Variant: OS0_REV7_128ch20hz512res

name	OS0 REV7 128 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.5
farRangeM	75.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	35.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS0_REV7_128ch20hz1024res

name	OS0 REV7 128 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.5
farRangeM	75.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	35.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

Other Features

• Rotation Rate: 10 or 20 hz (configurable)

• Dimensions: 87 mm (Diameter) by 58.35 mm (Height). With thermal cap, height is 74.2 mm.

• IMU supported: InvenSense IAM-20680HT

Note

For the datasheet and full list of specifications, visit the OS0 product page.

OS1

Ouster OS1 is a high precision Lidar for autonomous vehicles, heavy machinery, robot, and mapping solutions. Isaac Sim has several pre-configured frequencies and resolutions that can be easily added to the stage.

To create the sensor from the menu: Create>Sensors>RTX Lidar>Ouster>OS1.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Ouster>OS1>OS1.usd

Features and Specification

OS1 Rev6 Features

32 Channels 10 Hz

512 Resolution

Variant: OS1_REV6_32ch10hz512res

name	OS1 REV6 32 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	32
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS1_REV6_32ch10hz1024res

name	OS1 REV6 32 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	32
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS1_REV6_32ch10hz2048res

name	OS1 REV6 32 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	32
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

32 Channels 20 Hz

512 Resolution

Variant: OS1_REV6_32ch20hz512res

name	OS1 REV6 32 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	32
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS1_REV6_32ch20hz1024res

name	OS1 REV6 32 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	32
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

128 Channels 10 Hz

512 Resolution

Variant: OS1_REV6_128ch10hz512res

name	OS1 REV6 128 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	128
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS1_REV6_128ch10hz1024res

name	OS1 REV6 128 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS1_REV6_128ch10hz2048res

name	OS1 REV6 128 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

128 Channels 20 Hz

512 Resolution

Variant: OS1_REV6_128ch20hz512res

name	OS1 REV6 128 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS1_REV6_128ch20hz1024res

name	OS1 REV6 128 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

OS1 Rev7 Features

10 Hz

512 Resolution

Variant: OS1_REV7_128ch10hz512res

name	OS1 REV7 128 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	128
nearRangeM	0.5
farRangeM	170.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	90.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS1_REV7_128ch10hz1024res

name	OS1 REV7 128 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.5
farRangeM	170.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	90.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS1_REV7_128ch10hz2048res

name	OS1 REV7 128 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.5
farRangeM	170.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	90.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

20 Hz

512 Resolution

Variant: OS1_REV7_128ch20hz512res

name	OS1 REV7 128 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.5
farRangeM	170.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	90.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS1_REV7_128ch20hz1024res

name	OS1 REV7 128 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.5
farRangeM	170.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	90.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

Other Features

• Dimensions: 87 mm (Diameter) by 58.35 mm (Height). With thermal cap, height is 74.2 mm.

• IMU supported: InvenSense IAM-20680HT

Note

For the datasheet and full list of specifications, visit the OS1 product page.

OS2

Ouster OS2 is a high precision Lidar for autonomous vehicles, heavy machinery, robot, and mapping solutions. Isaac Sim has several pre-configured frequencies and resolutions that can be easily added to the stage.

To create the sensor from the menu: Create>Sensors>RTX Lidar>Ouster>OS2.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Ouster>OS2>OS2.usd

Features and Specification

OS2 Rev6 Features

10 Hz

512 Resolution

Variant: OS2_REV6_128ch10hz512res

name	OS2 REV6 128 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	128
nearRangeM	1.0
farRangeM	240.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	100.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS2_REV6_128ch10hz1024res

name	OS2 REV6 128 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	1.0
farRangeM	240.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	100.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS2_REV6_128ch10hz2048res

name	OS2 REV6 128 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	1.0
farRangeM	240.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	100.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

20 Hz

512 Resolution

Variant: OS2_REV6_128ch20hz512res

name	OS2 REV6 128 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	1.0
farRangeM	240.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	100.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS2_REV6_128ch20hz1024res

name	OS2 REV6 128 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	1.0
farRangeM	240.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	100.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

OS2 Rev7 Features

10 Hz

512 Resolution

Variant: OS2_REV7_128ch10hz512res

name	OS2 REV7 128 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	128
nearRangeM	0.8
farRangeM	350.0
rangeResolutionM	0.001
rangeAccuracyM	0.02
minReflectance	0.1
minReflectanceRange	200.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS2_REV7_128ch10hz1024res

name	OS2 REV7 128 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.8
farRangeM	350.0
rangeResolutionM	0.001
rangeAccuracyM	0.02
minReflectance	0.1
minReflectanceRange	200.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS2_REV7_128ch10hz2048res

name	OS2 REV7 128 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.8
farRangeM	350.0
rangeResolutionM	0.001
rangeAccuracyM	0.02
minReflectance	0.1
minReflectanceRange	200.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

20 Hz

512 Resolution

Variant: OS2_REV7_128ch20hz512res

name	OS2 REV7 128 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.8
farRangeM	350.0
rangeResolutionM	0.001
rangeAccuracyM	0.02
minReflectance	0.1
minReflectanceRange	200.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS2_REV7_128ch20hz1024res

name	OS2 REV7 128 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.8
farRangeM	350.0
rangeResolutionM	0.001
rangeAccuracyM	0.02
minReflectance	0.1
minReflectanceRange	200.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

Other Features

• Dimensions: 87 mm (Diameter) by 58.35 mm (Height). With thermal cap, height is 74.2 mm.

• IMU supported: InvenSense IAM-20680HT

Note

For the datasheet and full list of specifications, visit the OS2 product page.

VLS 128

Ouster VLS 128 is a long range, ultra high resolution 3D Lidar for autonomous vehicles.

To create the sensor from the menu: Create>Sensors>RTX Lidar>Ouster>VLS 128

To create the sensor from the Content Browser: Isaac Sim>Sensors>Ouster>VLS_128>Ouster_VLS_128.usd

Features and Specification

VLS 128 Features

name	Velodyne VLS-128
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	18761
numberOfEmitters	128
nearRangeM	1.0
farRangeM	200.0
rangeResolutionM	0.004
rangeAccuracyM	0.02
minReflectance	0.1
minReflectanceRange	120.0
wavelengthNm	903.0
pulseTimeNs	6
maxReturns	2

Other Features

• Dimensions: 165.5 mm (Diameter) by 141.3 mm (Height)

• Operating Temperature: -20C to 60C

Note

VLS 128 product page.

SICK

microScan3 (Certified)

The SICK microScan3 safety laser scanner stands for the protection of very different applications: from stationary to mobile, from simple to complex and delivers high-precision measurement data.

Features and Specification

Profile	Protective field range	Scan frequency
1	4.0 m	33.3 Hz
2	4.0 m	25.0 Hz
3	5.5 m	33.3 Hz
4	5.5 m	25.0 Hz
5	9.0 m	25.0 Hz
6	9.0 m	20.0 Hz

ℹ️ Note For the datasheet and full list of specifications, visit the microScan3 product page.

To create the sensor from the menu: Create>Sensors>RTX Lidar>SICK>microScan3

To create the sensor from the Content Browser: Isaac Sim>Sensors>SICK>microScan3>SICK_microScan3.usd

multiScan136 (Certified)

The SICK multiScan136 of the multiScan100 family is a 3D LiDAR sensor for mobile and stationary applications and reliably detects drop-off edges and obstacles ahead.

ℹ️ Note For the datasheet and full list of specifications, visit the multiScan136 product page.

To create the sensor from the menu: Create>Sensors>RTX Lidar>SICK>multiScan136

To create the sensor from the Content Browser: Isaac Sim>Sensors>SICK>multiScan136>SICK_multiScan136.usd

multiScan165 (Certified)

The SICK multiScan165 of the multiScan100 family is a 3D LiDAR sensor for mobile and stationary applications and reliably detects drop-off edges and obstacles ahead.

ℹ️ Note For the datasheet and full list of specifications, visit the multiScan165 product page.

To create the sensor from the menu: Create>Sensors>RTX Lidar>SICK>multiScan165

To create the sensor from the Content Browser: Isaac Sim>Sensors>SICK>multiScan165>SICK_multiScan165.usd

nanoScan3 (Certified)

The SICK nanoScan3 is the smallest safety laser scanner, which is well suited for the protection and localization of mobile platforms.

Features and Specification

ℹ️ Note For the datasheet and full list of specifications, visit the nanoScan3 product page.

To create the sensor from the Content Browser: Isaac Sim>Sensors>SICK>nanoScan3>SICK_nanoScan3.usd

picoScan150 (Certified)

The SICK picoScan150 of the picoScan100 family is a 2D LiDAR sensor for solving demanding industrial applications such as collision avoidance or measurement and monitoring in indoor and outdoor areas.

Features and Specification

Profile	Scan frequency	Angular resolution
1	15 Hz	0.5°
2	15 Hz	0.33°
3	20 Hz	0.1°
4	20 Hz	0.25°
5	25 Hz	0.25°
6	30 Hz	0.1°
7	40 Hz	0.25°
8	50 Hz	0.25°
9	15 Hz	0.05°
10	40 Hz	0.125°
11	15 Hz	1.0°

ℹ️ Note For the datasheet and full list of specifications, visit the picoScan150 product page.

To create the sensor from the menu: Create>Sensors>RTX Lidar>SICK>picoScan150

To create the sensor from the Content Browser: Isaac Sim>Sensors>SICK>picoScan150>SICK_picoScan150.usd

TiM781 (Certified)

The SICK TiM781 of the TiM family is a 2D LiDAR sensor for collision protection for mobile applications, object measurement or monitoring of objects.

ℹ️ Note For the datasheet and full list of specifications, visit the TiM781 product page.

To create the sensor from the menu: Create>Sensors>RTX Lidar>SICK>TiM781

To create the sensor from the Content Browser: Isaac Sim>Sensors>SICK>tim781.usd

SLAMTEC

RPLIDAR S2E

SLAMTEC RPLIDAR S2E is a low cost 360 degrees 2D laser scanner Lidar from SLAMTEC.

To create the sensor from the menu: Create>Sensors>RTX Lidar>Slamtec>RPLIDAR S2E

To create the sensor from the Content Browser: Isaac Sim>Sensors>Slamtec>RPLIDAR_S2E.usd

Features and Specification

RPLIDAR S2E Features

name	RPLIDAR S2E
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	32000
numberOfEmitters	1
nearRangeM	0.05
farRangeM	30.0
rangeResolutionM	0.013
rangeAccuracyM	0.03
minDistBetweenEchos	0.05
minReflectance	0.1
minReflectanceRange	10.0
wavelengthNm	905.0
pulseTimeNs	5
azimuthErrorMean	0.0
azimuthErrorStd	0.0
elevationErrorMean	0.0
elevationErrorStd	0.0
maxReturns	1

Note

For the datasheet and full list of specifications, vist the RPLIDAR S2 product page.

ZVISION

ML-30s+ (Certified)

ZVISION ML-30s+ is a short range automotive grade solid state Lidar. Note there is no mesh for this lidar, so when it is created via the UI, only a prim will appear in the Stage window.

Features and Specification

ML-30s+ Features

name	ML-30s+
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10
numberOfEmitters	51200
numberOfChannels	51200
nearRangeM	0.2
farRangeM	45.0
effectiveApertureSize	0.01
focusDistM	0.12
rangeResolutionM	0.03
rangeAccuracyM	0.03
minDistBetweenEchos	0.2
minReflectance	0.1
minReflectanceRange	270.0
wavelengthNm	905.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.025
elevationErrorMean	0.0
elevationErrorStd	0.025
maxReturns	2

To create the sensor from the menu: Create>Sensors>RTX Lidar>ZVISION>ML30S+

To create the sensor from the Content Browser: Isaac Sim>Sensors>ZVISION>ZVISION_ML30S.usda

Note

For the datasheet and full list of specifications, visit the ML-30s+ product page.

ML-Xs (Certified)

ZVISION ML-Xs is a long range automotive high performance grade solid state Lidar. Note there is no mesh for this lidar, so when it is created via the UI, only a prim will appear in the Stage window.

Features and Specification

ML-30s+ Features

name	ML-Xs
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10
numberOfEmitters	108000
numberOfChannels	108000
nearRangeM	0.5
farRangeM	250
effectiveApertureSize	0.01
focusDistM	0.12
rangeResolutionM	0.03
rangeAccuracyM	0.05
minReflectance	0.1
minReflectanceRange	270.0
wavelengthNm	1550.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.025
elevationErrorMean	0.0
elevationErrorStd	0.025
maxReturns	2

To create the Lidar prim: Create>Sensors>RTX Lidar>ZVISION>MLXS

To create the sensor from the Content Browser: Isaac Sim>Sensors>ZVISION>ZVISION_MLXS.usda

Note

For the datasheet and full list of specifications, visit the ML-Xs product page.

Sensor Gizmo in Viewport

In Isaac Sim, the sensor functions are decoupled from physical meshes, and you can have sensors on stage without any mesh associated with the sensor. We use sensor gizmo to track the location of the actual sensing functions regardless of mesh. The gizmos are not visible by default, but you can toggle them on or off in the viewport.

To toggle the sensor gizmos, go to Viewport Menu > > Show By Type > Sensors.