Isaac Read IMU Node#

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

Installation#

To use this node enable isaacsim.sensors.physics in the Extension Manager.

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

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

Name	Value
Unique ID	isaacsim.sensors.physics.IsaacReadIMU
Version	1
Extension	isaacsim.sensors.physics
Icon	ogn/icons/isaacsim.sensors.physics.IsaacReadIMU.svg
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Isaac Read IMU Node
Categories	isaacPhysicsSensor
Generated Class Name	OgnIsaacReadIMUDatabase
Python Module	isaacsim.sensors.physics