Camera and Depth Sensors#

Isaac Sim supports camera and depth sensors, with digital twins found in the Content Browser: under Isaac Sim/Sensors, organized into subfolders by manufacturer.

Cameras#

For more information about camera modeling in Isaac Sim, see here.

Leopard Imaging#

Hawk Stereo Camera#

The Hawk Stereo Camera (LI-AR0234CS-STEREO-GMSL2-30) from Leopard Imaging consists of two OnSemi AR0234CS RGB image sensors and a 6-axis IMU, both are simulated in the NVIDIA Isaac Sim.

Hawk Sensor — To create the camera from the menu: *Create>Sensors>Camera and Depth Sensors>Leopard Imaging>Hawk*#

To create the sensor from the Content Browser: Isaac Sim>Sensors>LeopardImaging>Hawk>hawk_v1.1_nominal.usd

Features and Specification

Camera Features#
name	camera_left	camera_right
focalLength	2.8734347820281982	2.8779797554016113
focusDistance	0.6000000238418579	0.6000000238418579
fStop	240.0	240.0
projection	perspective	perspective
stereoRole	left	right
horizontalAperture	5.760000228881836	5.760000228881836
verticalAperture	3.5999999046325684	3.5999999046325684
clippingRange	(0.076, 100000)	(0.076, 100000)
cameraProjectionType	fisheyePolynomial	fisheyePolynomial
nominalWidth	1920.0	1920.0
nominalHeight	1200.0	1200.0
opticalCenterX	957.85107421875	954.709228515625
opticalCenterY	589.5376586914062	588.3735961914062
maxFOV	150.0	150.0
polyK0	5.0055230531143025e-05	8.962746505858377e-05
polyK1	0.0010426010703667998	0.001039923052303493
polyK2	9.85131620723223e-09	1.502240820627776e-08
polyK3	1.6426542417957712e-11	5.982795422271314e-12
polyK4	2.9886398802796144e-14	3.6818906078281075e-14
polyK5	0.0	0.0
p0	-0.00037	-0.00037
p1	-0.00074	-0.00074
s0	-0.00058	-0.00058
s1	-0.00022	-0.00022
s2	0.00019	0.00019
s3	-0.0002	-0.0002
physicalDistortionCoefficients	[0.147811, -0.032313, -0.000194, -0.000035, 0.008823, 0.517913, -0.06708, 0.01695]	[6.815791, 5.172144, -0.000246, -0.000128, 0.353267, 7.180808, 7.640372, 1.596375]
physicalDistortionModel	rational_polynomial	rational_polynomial

Other Features

Waterproof: IP65
Dimensions: 180 mm (length) by 44.33 mm (depth) by 25.0 mm (height)
Operating Temperature: -20C to 50C

Note

For the datasheet and full list of specifications, visit the Hawk stereo camera product page and purchase here.

Owl Fisheye camera#

The Owl camera (LI-AR0234CS-GMSL2-OWL) from Leopard Imaging consists of a 2.3MP OnSemi AR0234CS RGB image sensor, capable of producing crisp images in low-light and bright scenes.

Owl Sensor — To create the camera from the menu: *Create>Sensors>Camera and Depth Sensors>Leopard Imaging>Owl*#

To create the sensor from the Content Browser: Isaac Sim>Sensors>LeopardImaging>Owl>owl.usd

Features and Specification

Camera Features#
name	camera
focalLength	1.3646053075790405
focusDistance	0.6000000238418579
fStop	180.0
projection	perspective
stereoRole	mono
horizontalAperture	5.760000228881836
verticalAperture	3.5999999046325684
clippingRange	(0.076, 100000)
cameraProjectionType	fisheyePolynomial
nominalWidth	1920.0
nominalHeight	1200.0
opticalCenterX	943.99462890625
opticalCenterY	602.3110961914062
maxFOV	235.0
polyK0	0.0002725422091316432
polyK1	0.0021866457536816597
polyK2	1.2340817079348199e-07
polyK3	-1.079574096785052e-09
polyK4	5.997452426180494e-13
polyK5	0.0
p0	-0.00037
p1	-0.00074
s0	-0.00058
s1	-0.00022
s2	0.00019
s3	-0.0002
physicalDistortionCoefficients	[0.057225, 0.012671, -0.002978, -0.000472]
physicalDistortionModel	kannalaBrandt

Other Features

Dimensions: 50 mm (length) by 37.63 mm (depth) by 25.0 mm (height)
Operating Temperature: -20C to 50C

Note

For full list of specifications, visit the product page ,and the owl cameras can be purchased here.

Sensing#

SG2-AR0233C-5200-G2A-H100F1A Camera (Certified by Sensing)#

SG2-AR0233C-5200-G2A-H100F1A from the SG2-AR0233C-5200-G2A-Hxxx Series is a megapixel high performance automotive camera module, primarily used for ADAS, HDR imaging functionalities.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG2>H100F1A>SG2-AR0233C-5200-G2A-H100F1A.usd

Features and Specification

Camera Features#
name	SG2_AR0233C_5200_G2A_H100F1A_01
focalLength	3.549999952316284
focusDistance	270.0
fStop	1.600000023841858
projection	perspective
stereoRole	mono
horizontalAperture	5.760000228881836
verticalAperture	3.240000009536743
clippingRange	(1, 1000000)
cameraProjectionType	fisheyeOrthographic
nominalWidth	1920.0
nominalHeight	1080.0
opticalCenterX	998.0842895507812
opticalCenterY	520.5062866210938
maxFOV	100.0
polyK0	0.9293811321258545
polyK1	0.15743136405944824
polyK2	0.008131147362291813
polyK3	1.358112096786499
polyK4	0.4388065040111542
polyK5	0.035474397242069244
p0	-1.8616799934534356e-05
p1	-0.000114203299744986
s0	0.0
s1	0.0
s2	0.0
s3	0.0
physicalDistortionCoefficients	Not Applicable
physicalDistortionModel	Not Applicable

Other Features

Waterproof: IP67
Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)
Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG2-AR0233C-5200-G2A-Hxxx series product page.

SG2-OX03CC-5200-GMSL2-H60YA Series Camera (Certified by Sensing)#

SG2-OX03CC-5200-GMSL2-H60YA from the SG2-OX03CC-5200-GMSL2-Hxxx Series is a megapixel high performance automotive camera module, primarily used for ADAS, HDR imaging functionalities.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG2>H60YA>Camera_SG2_OX03CC_5200_GMSL2_H60YA.usd

Features and Specification

Camera Features#
name	Camera_SG2_OX03CC_5200_GMSL2_H60YA
focalLength	5.75
focusDistance	700.0
fStop	1.600000023841858
projection	perspective
stereoRole	mono
horizontalAperture	5.760000228881836
verticalAperture	3.240000009536743
clippingRange	(0.1, 1000000)
cameraProjectionType	fisheyeOrthographic
nominalWidth	1920.0
nominalHeight	1080.0
opticalCenterX	959.595947265625
opticalCenterY	647.6140747070312
maxFOV	60.0
polyK0	0.7182272672653198
polyK1	60.113136291503906
polyK2	2.598527431488037
polyK3	1.1977670192718506
polyK4	60.394771575927734
polyK5	31.610383987426758
p0	0.0004008802934549749
p1	-0.0013344850158318877
s0	0.0
s1	0.0
s2	0.0
s3	0.0
physicalDistortionCoefficients	Not Applicable
physicalDistortionModel	Not Applicable

Other Features

Waterproof: IP67
Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)
Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG2-OX03CC-5200-GMSL2F-Hxxx series product page.

SG3-ISX031C-GMSL2F-H190XA (Certified by Sensing)#

SG3-ISX031C-GMSL2F-H190XA is a 3 megapixels automotive camera for automotive surround view.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG3>H190XA>SG3S-ISX031C-GMSL2F-H190XA.usd

Features and Specification

Camera Features#
name	SG3S_ISX031C_GMSL2F_H190XA_01
focalLength	1.5099999904632568
focusDistance	39.0
fStop	2.0
projection	perspective
stereoRole	mono
horizontalAperture	5.760000228881836
verticalAperture	4.607999801635742
clippingRange	(1, 1000000)
cameraProjectionType	fisheyeEquidistant
nominalWidth	1920.0
nominalHeight	1536.0
opticalCenterX	960.6082153320312
opticalCenterY	768.0
maxFOV	190.0
polyK0	0.13215887546539307
polyK1	-0.031036589294672012
polyK2	-0.004391151946038008
polyK3	0.0018116832943633199
polyK4	0.0
polyK5	0.0
p0	0.0
p1	0.0
s0	0.0
s1	0.0
s2	0.0
s3	0.0
physicalDistortionCoefficients	Not Applicable
physicalDistortionModel	Not Applicable

Other Features

Waterproof: IP67
Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)
Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG3-ISX031C-GMSL2F-Hxxx series product page.

SG5-IMX490C-5300-GMSL2-H110SA (Certified by Sensing)#

SG5-IMX490C-5300-GMSL2-H110SA is a 5 megapixels automotive camera for automotive surround view, ADAS and viewing fusion.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG5>H100SA>SG5-IMX490C-5300-GMSL2-H110SA.usd

Features and Specification

Camera Features#
name	Camera_SG5_IMX490C_5300_GMSL2_H110SA
focalLength	4.260000228881836
focusDistance	220.0
fStop	2.799999952316284
projection	perspective
stereoRole	mono
horizontalAperture	8.640000343322754
verticalAperture	5.579999923706055
clippingRange	(1, 1000000)
cameraProjectionType	fisheyeOrthographic
nominalWidth	2880.0
nominalHeight	1860.0
opticalCenterX	1442.3316650390625
opticalCenterY	926.6644287109375
maxFOV	110.0
polyK0	0.6106576919555664
polyK1	-0.11334560066461563
polyK2	-0.014692608267068863
polyK3	0.9237731099128723
polyK4	-0.011052233166992664
polyK5	-0.051484767347574234
p0	2.2259799152379856e-05
p1	-7.929380080895498e-05
s0	0.0
s1	0.0
s2	0.0
s3	0.0
physicalDistortionCoefficients	Not Applicable
physicalDistortionModel	Not Applicable

Other Features

Waterproof: IP67
Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)
Operating Temperature: -40C to 85C
Multi camera synchronization support

Note

For the datasheet and full list of specifications, visit the SG5-IMX490C-5300-GMSL2-Hxxx series product page.

SG8S-AR0820C-5300-G2A-H30YA Camera (Certified by Sensing)#

SG8S-AR0820C-5300-G2A-H30YA is a 4k high performance automotive grade camera that supports advanced on sensor HDR and multi-camera synchronization.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG8>H30YA>SG8S-AR0820C-5300-G2A-H30YA.usd

Features and Specification

Camera Features#
name	SG8S_AR0820C_5300_G2A_H30YA_01
focalLength	15.300000190734863
focusDistance	7070.0
fStop	1.600000023841858
projection	perspective
stereoRole	mono
horizontalAperture	8.064000129699707
verticalAperture	4.535999774932861
clippingRange	(1, 1000000)
cameraProjectionType	pinhole
nominalWidth	3840.0
nominalHeight	2160.0
opticalCenterX	1864.240478515625
opticalCenterY	986.3945922851562
maxFOV	30.0
polyK0	-0.6564998626708984
polyK1	-4.156541347503662
polyK2	245.6761932373047
polyK3	-0.43839189410209656
polyK4	-4.5701212882995605
polyK5	251.74969482421875
p0	-0.000658363220281899
p1	8.901000114747148e-07
s0	0.0
s1	0.0
s2	0.0
s3	0.0
physicalDistortionCoefficients	Not Applicable
physicalDistortionModel	Not Applicable

Other Features

Dimensions: 40 mm (length) by 23 mm (depth) by 40 mm (height)
Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG8-AR820C-5300-G2A-Hxxx series cameras product page.

SG8S-AR0820C-5300-G2A-H60SA Camera (Certified by Sensing)#

SG8S-AR0820C-5300-G2A-H60SA is a 4k high performance automotive grade camera that supports advanced on sensor HDR and multi-camera synchronization.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG8>H60SA>SG8S-AR0820C-5300-G2A-H60SA.usd

Features and Specification

Camera Features#
name	SG8S_AR0820C_5300_G2A_H60SA_01
focalLength	7.869999885559082
focusDistance	1670.0
fStop	1.7999999523162842
projection	perspective
stereoRole	mono
horizontalAperture	8.064000129699707
verticalAperture	4.535999774932861
clippingRange	(1, 1000000)
cameraProjectionType	fisheyeEquidistant
nominalWidth	3840.0
nominalHeight	2160.0
opticalCenterX	1919.1090087890625
opticalCenterY	1087.7274169921875
maxFOV	60.0
polyK0	0.8600332140922546
polyK1	-0.30780455470085144
polyK2	-0.05103735625743866
polyK3	1.5231009721755981
polyK4	0.0005489090108312666
polyK5	-0.25151902437210083
p0	6.143400241853669e-05
p1	-4.332419848651625e-05
s0	0.0
s1	0.0
s2	0.0
s3	0.0
physicalDistortionCoefficients	Not Applicable
physicalDistortionModel	Not Applicable

Other Features

Dimensions: 40 mm (length) by 23 mm (depth) by 40 mm (height)
Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG8-AR820C-5300-G2A-Hxxx series cameras product page.

SG8S-AR0820C-5300-G2A-H120YA Camera (Certified by Sensing)#

SG8S-AR0820C-5300-G2A-H120YA is a 4k high performance automotive grade camera that supports advanced on sensor HDR and multi-camera synchronization.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG8>H120YA>SG8S-AR0820C-5300-G2A-H120YA.usd

Features and Specification

Camera Features#
name	SG8S_AR0820C_5300_G2A_H120YA_01
focalLength	4.010000228881836
focusDistance	480.0
fStop	1.600000023841858
projection	perspective
stereoRole	mono
horizontalAperture	8.064000129699707
verticalAperture	4.535999774932861
clippingRange	(1, 1000000)
cameraProjectionType	fisheyeEquidistant
nominalWidth	3840.0
nominalHeight	2160.0
opticalCenterX	1919.1090087890625
opticalCenterY	1087.7274169921875
maxFOV	120.0
polyK0	0.8600332140922546
polyK1	-0.30780455470085144
polyK2	-0.05103735625743866
polyK3	1.5231009721755981
polyK4	0.0005489090108312666
polyK5	-0.25151902437210083
p0	6.143400241853669e-05
p1	-4.332419848651625e-05
s0	0.0
s1	0.0
s2	0.0
s3	0.0
physicalDistortionCoefficients	Not Applicable
physicalDistortionModel	Not Applicable

Other Features

Dimensions: 40 mm (length) by 23 mm (depth) by 40 mm (height)
Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG8-AR820C-5300-G2A-Hxxx series cameras product page.

SICK#

Inspector83x (Certified by SICK)#

Inspector83x (Certified)#

The SICK Inspector83x is a 2D camera, which helps to rapidly solve vision applications such as quality assurance, defect detection, and sorting.

To create the sensor from the Content Browser: Isaac Sim>Sensors>SICK>Inspector83x>SICK_Inspector83x.usd

Features and Specification

Features and Specification#

This sensor should be used with a resolution of 2464 x 2048 px (5.1 MP) or 1232 x 1024 px (1.3 MP) and a maximum frequency of 30 Hz.

The model provides different product variants. To switch between different profiles, use the Variant Set “Profile” defined on the default prim. The profiles differ in the following parameters:

Profile	Focal length
Profile01	8 mm
Profile02	12 mm
Profile03	16 mm
Profile04	25 mm

ℹ️ Note For the datasheet and full list of specifications, visit the Inspector83x product page.

For guidance on how to use this sensor optimally in Isaac Sim or for information about a higher-fidelity sensor model (including the integrated lighting), use the contact function on the SICK digital twin landing page.

InspectorP61x (Certified by SICK)#

InspectorP61x (Certified)#

The SICK InspectorP61x is an ultracompact industrial 2D vision sensor, which helps to rapidly solve vision applications where space is limited and can be used for robot end-of-arm mounting.

To create the sensor from the Content Browser: Isaac Sim>Sensors>SICK>InspectorP61x>SICK_InspectorP61x.usd

Features and Specification

Features and Specification#

This sensor should be used with a resolution of 1280 x 960 px (1.2 MP) and a maximum frequency of 40 Hz.

The model provides different product variants. To switch between different profiles, use the Variant Set “Profile” defined on the default prim. The profiles differ in the following parameters:

Profile	Focal length
Profile01	6 mm
Profile02	12 mm

ℹ️ Note For the datasheet and full list of specifications, visit the InspectorP61x product page.

For guidance on how to use this sensor optimally in Isaac Sim or for information about a higher-fidelity sensor model (including the integrated lighting), use the contact function on the SICK digital twin landing page.

Depth Sensors#

For more information about depth sensor modeling in Isaac Sim, see here.

Realsense#

Realsense D455 (Certified by Realsense)#

Realsense D455 (Certified)#

The Realsense D455 consists of multiple RGB and depth image sensors and a 6-axis IMU.

Features and Specification#

Other Features

Dimensions: 124 mm (length) by 25 mm (depth) by 29 mm (height)
IMU: Bosch BM1055
Ideal Range: 0.6m to 6m
Minimum Depth Distance at Max resolution: 52cm
Depth accuracy: under 2% at 4m

ℹ️ Note For the datasheet and full list of specifications, visit the D455 product page.

To create the camera from the menu: *Create>Sensors>Camera and Depth Sensors>RealSense>Realsense D455*#

Camera Attributes

Camera Features#
name	Camera_Pseudo_Depth	Camera_OmniVision_OV9782_Color	Camera_OmniVision_OV9782_Left	Camera_OmniVision_OV9782_Right
focalLength	1.9299999475479126	1.9299999475479126	1.9299999475479126	1.9299999475479126
focusDistance	0.6000000238418579	0.5	0.5	0.5
fStop	2.0	2.0	2.0	2.0
projection	perspective	perspective	perspective	perspective
stereoRole	mono	mono	left	right
horizontalAperture	3.8959999084472656	3.8959999084472656	3.8959999084472656	3.8959999084472656
verticalAperture	2.453000068664551	2.453000068664551	2.453000068664551	2.453000068664551
clippingRange	(0.01, 1000000)	(0.01, 1000000)	(0.01, 1000000)	(0.01, 1000000)
cameraProjectionType	fisheyeEquidistant	fisheyeEquidistant	fisheyeEquidistant	fisheyeEquidistant
nominalWidth	1936.0	1936.0	1936.0	1936.0
nominalHeight	1216.0	1216.0	1216.0	1216.0
opticalCenterX	970.94244	970.94244	970.94244	970.94244
opticalCenterY	600.37482	600.37482	600.37482	600.37482
maxFOV	100.5999984741211	98.0	98.0	98.0
polyK0	0.0	0.0	0.0	0.0
polyK1	0.00245	0.00245	0.00245	0.00245
polyK2	0.0	0.0	0.0	0.0
polyK3	0.0	0.0	0.0	0.0
polyK4	0.0	0.0	0.0	0.0
polyK5	0.0	0.0	0.0	0.0
p0	-0.00037	-0.00037	-0.00037	-0.00037
p1	-0.00074	-0.00074	-0.00074	-0.00074
s0	-0.00058	-0.00058	-0.00058	-0.00058
s1	-0.00022	-0.00022	-0.00022	-0.00022
s2	0.00019	0.00019	0.00019	0.00019
s3	-0.0002	-0.0002	-0.0002	-0.0002
physicalDistortionCoefficients	Not Applicable	Not Applicable	Not Applicable	Not Applicable
physicalDistortionModel	Not Applicable	Not Applicable	Not Applicable	Not Applicable

To create the sensor from the Content Browser: Isaac Sim>Sensors>Realsense>D455>rsd455.usd

Realsense D457 (Certified by Realsense)#

Realsense D457#

The Realsense D457 is a ruggedized, IP65-rated stereo depth camera featuring a GMSL/FAKRA interface for secure, long-distance high-bandwidth connectivity. It utilizes the same optical module as the D455 and is designed for autonomous mobile robots (AMRs) and automotive infotainment.

Features and Specification#

Other Features

Dimensions: 124 mm (length) by 36 mm (depth) by 29 mm (height)
Environment: Indoor/Outdoor (IP65 Rated)
Vision Processor: Vision Processor D4 Board V5
Sensors: Global Shutter (Depth and RGB)
Depth FOV: 87° × 58° (Resolution up to 1280 × 720 at 90 fps)
RGB FOV: 90° × 65° (Resolution up to 1280 × 800 at 60 fps)
Minimum Depth Distance: 26-52 cm
Connectors: GMSL/FAKRA (Maxim Integrated), USB-C
IMU: Built-in 6-axis IMU

ℹ️ Note For the full datasheet, visit the D457 Datasheet.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Realsense>D457>rsd457.usd

Camera Attributes

Camera Features#
name	Camera_Pseudo_Depth	Camera_OmniVision_OV9782_Color	Camera_OmniVision_OV9782_Left	Camera_OmniVision_OV9782_Right
focalLength	1.9299999475479126	1.9299999475479126	1.9299999475479126	1.9299999475479126
focusDistance	0.6000000238418579	0.5	0.5	0.5
fStop	2.0	2.0	2.0	2.0
projection	perspective	perspective	perspective	perspective
stereoRole	mono	mono	left	right
horizontalAperture	3.8959999084472656	3.8959999084472656	3.8959999084472656	3.8959999084472656
verticalAperture	2.453000068664551	2.453000068664551	2.453000068664551	2.453000068664551
clippingRange	(0.01, 1000000)	(0.01, 1000000)	(0.01, 1000000)	(0.01, 1000000)
cameraProjectionType	fisheyeEquidistant	fisheyeEquidistant	fisheyeEquidistant	fisheyeEquidistant
nominalWidth	1936.0	1936.0	1936.0	1936.0
nominalHeight	1216.0	1216.0	1216.0	1216.0
opticalCenterX	970.94244	970.94244	970.94244	970.94244
opticalCenterY	600.37482	600.37482	600.37482	600.37482
maxFOV	100.5999984741211	98.0	98.0	98.0
polyK0	0.0	0.0	0.0	0.0
polyK1	0.00245	0.00245	0.00245	0.00245
polyK2	0.0	0.0	0.0	0.0
polyK3	0.0	0.0	0.0	0.0
polyK4	0.0	0.0	0.0	0.0
polyK5	0.0	0.0	0.0	0.0
p0	-0.00037	-0.00037	-0.00037	-0.00037
p1	-0.00074	-0.00074	-0.00074	-0.00074
s0	-0.00058	-0.00058	-0.00058	-0.00058
s1	-0.00022	-0.00022	-0.00022	-0.00022
s2	0.00019	0.00019	0.00019	0.00019
s3	-0.0002	-0.0002	-0.0002	-0.0002
physicalDistortionCoefficients	Not Applicable	Not Applicable	Not Applicable	Not Applicable
physicalDistortionModel	Not Applicable	Not Applicable	Not Applicable	Not Applicable

Realsense D555 (Certified by Realsense)#

Realsense D555#

The Realsense D555 is a ruggedized, IP65-rated stereo depth camera designed for industrial and outdoor environments. It features the new RealSense Vision SoC V5, on-chip Power over Ethernet (PoE), and global shutter sensors for both RGB and Depth.

Features and Specification#

Other Features

Dimensions: 167 mm (length) by 42 mm (depth) by 48 mm (height)
Environment: Indoor/Outdoor (IP65 Rated)
Vision Processor: RealSense Vision SoC V5
Sensors: Global Shutter (Depth and RGB)
Depth FOV: 87° × 58° (Resolution up to 1280 × 720 at 90 fps)
RGB FOV: 90° × 65° (Resolution up to 1280 × 800 at 60 fps)
Minimum Depth Distance: 26-52 cm
Connectors: PoE (RJ45), USB-C (Power/Data), GMSL/FAKRA, External HW Sync via USB
Native ROS Support: Powered by SafeDDS (ISO 26262-certified) and interoperable with Fast DDS, enabling plug-and-play ROS 2 streaming over Ethernet without additional installation.

ℹ️ Note For the full datasheet, visit the D555 Datasheet.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Realsense>D555>rsd555.usd

Camera Attributes

Camera Features#
name	Camera_Pseudo_Depth	Camera_OmniVision_OV9782_Color	Camera_OmniVision_OV9782_Left	Camera_OmniVision_OV9782_Right
focalLength	1.9299999475479126	1.9299999475479126	1.9299999475479126	1.9299999475479126
focusDistance	0.6000000238418579	0.5	0.5	0.5
fStop	2.0	2.0	2.0	2.0
projection	perspective	perspective	perspective	perspective
stereoRole	mono	mono	left	right
horizontalAperture	3.8959999084472656	3.8959999084472656	3.8959999084472656	3.8959999084472656
verticalAperture	2.453000068664551	2.453000068664551	2.453000068664551	2.453000068664551
clippingRange	(0.01, 1000000)	(0.01, 1000000)	(0.01, 1000000)	(0.01, 1000000)
cameraProjectionType	fisheyeEquidistant	fisheyeEquidistant	fisheyeEquidistant	fisheyeEquidistant
nominalWidth	1936.0	1936.0	1936.0	1936.0
nominalHeight	1216.0	1216.0	1216.0	1216.0
opticalCenterX	970.94244	970.94244	970.94244	970.94244
opticalCenterY	600.37482	600.37482	600.37482	600.37482
maxFOV	100.5999984741211	98.0	98.0	98.0
polyK0	0.0	0.0	0.0	0.0
polyK1	0.00245	0.00245	0.00245	0.00245
polyK2	0.0	0.0	0.0	0.0
polyK3	0.0	0.0	0.0	0.0
polyK4	0.0	0.0	0.0	0.0
polyK5	0.0	0.0	0.0	0.0
p0	-0.00037	-0.00037	-0.00037	-0.00037
p1	-0.00074	-0.00074	-0.00074	-0.00074
s0	-0.00058	-0.00058	-0.00058	-0.00058
s1	-0.00022	-0.00022	-0.00022	-0.00022
s2	0.00019	0.00019	0.00019	0.00019
s3	-0.0002	-0.0002	-0.0002	-0.0002
physicalDistortionCoefficients	Not Applicable	Not Applicable	Not Applicable	Not Applicable
physicalDistortionModel	Not Applicable	Not Applicable	Not Applicable	Not Applicable

Orbbec#

Orbbec Gemini 2 (Certified by Orbbec)#

The Orbbec Gemini 2 is a depth camera based on Active Stereo IR technology.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Orbbec>Gemini 2>orbbec_gemini2_V1.0.usd

Features and Specification

Camera Features#
name	Stream_rgb	Stream_depth	Stream_ir_left	Stream_ir_right
focalLength	2.9700000286102295	1.809999942779541	1.809999942779541	1.809999942779541
focusDistance	80.0	45.0	45.0	45.0
fStop	0.0	0.0	0.0	0.0
projection	perspective	perspective	perspective	perspective
stereoRole	mono	mono	left	right
horizontalAperture	5.539000034332275	3.619999885559082	3.880000114440918	3.880000114440918
verticalAperture	3.0920000076293945	2.440000057220459	2.440000057220459	2.440000057220459
clippingRange	(0.005, 1000)	(0.005, 1000)	(0.005, 1000)	(0.005, 1000)
cameraProjectionType	pinhole	pinhole	pinhole	pinhole
nominalWidth	1936.0	1936.0	1936.0	1936.0
nominalHeight	1216.0	1216.0	1216.0	1216.0
opticalCenterX	970.94244	970.94244	970.94244	970.94244
opticalCenterY	600.37482	600.37482	600.37482	600.37482
maxFOV	200.0	200.0	200.0	200.0
polyK0	0.0	0.0	0.0	0.0
polyK1	0.00245	0.00245	0.00245	0.00245
polyK2	0.0	0.0	0.0	0.0
polyK3	0.0	0.0	0.0	0.0
polyK4	0.0	0.0	0.0	0.0
polyK5	0.0	0.0	0.0	0.0
p0	-0.00037	-0.00037	-0.00037	-0.00037
p1	-0.00074	-0.00074	-0.00074	-0.00074
s0	-0.00058	-0.00058	-0.00058	-0.00058
s1	-0.00022	-0.00022	-0.00022	-0.00022
s2	0.00019	0.00019	0.00019	0.00019
s3	-0.0002	-0.0002	-0.0002	-0.0002
physicalDistortionCoefficients	Not Applicable	Not Applicable	Not Applicable	Not Applicable
physicalDistortionModel	Not Applicable	Not Applicable	Not Applicable	Not Applicable

Other Features

Dimensions: 90 mm (length) by 25 mm (depth) by 30 mm (height)
IMU supported with multi camera synchronization
Ideal Range: 0.15m to 10m
Depth accuracy: under 2% at 2m

Note

For the datasheet and full list of specifications, visit the Gemini 2 product page.

Orbbec Femto Mega (Certified by Orbbec)#

The Orbbec Femto Mega is a programmable multi-mode Depth and RGB camera.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Orbbec>FemtoMega>orbbec_femtomega_v1.0.usd

Features and Specification

Camera Features#
name	camera_rgb	camera_tof_nfov	camera_tof_wfov
focalLength	3.25	1.690000057220459	1.690000057220459
focusDistance	150.0	44.0	44.0
fStop	0.0	0.0	0.0
projection	perspective	perspective	perspective
stereoRole	mono	mono	mono
horizontalAperture	5.449999809265137	2.5899999141693115	5.849999904632568
verticalAperture	3.0999999046325684	2.1500000953674316	5.849999904632568
clippingRange	(0.01, 1000000)	(0.01, 1000)	(0.01, 1000)
cameraProjectionType	pinhole	pinhole	pinhole
nominalWidth	1936.0	1936.0	1936.0
nominalHeight	1216.0	1216.0	1216.0
opticalCenterX	970.94244	970.94244	970.94244
opticalCenterY	600.37482	600.37482	600.37482
maxFOV	200.0	200.0	200.0
polyK0	0.0	0.0	0.0
polyK1	0.00245	0.00245	0.00245
polyK2	0.0	0.0	0.0
polyK3	0.0	0.0	0.0
polyK4	0.0	0.0	0.0
polyK5	0.0	0.0	0.0
p0	-0.00037	-0.00037	-0.00037
p1	-0.00074	-0.00074	-0.00074
s0	-0.00058	-0.00058	-0.00058
s1	-0.00022	-0.00022	-0.00022
s2	0.00019	0.00019	0.00019
s3	-0.0002	-0.0002	-0.0002
physicalDistortionCoefficients	Not Applicable	Not Applicable	Not Applicable
physicalDistortionModel	Not Applicable	Not Applicable	Not Applicable

Other Features

Dimensions: 115mm (length) by 145 mm (depth) by 40mm (height)
IMU supported
Ideal Range: 0.25m to 5.46m
Depth accuracy: under 11mm + 0.1% distance

Note

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

Orbbec Gemini 335 (Certified by Orbbec)#

To create the sensor from the Content Browser: Isaac Sim>Sensors>Orbbec>Gemini335>orbbec_gemini_335.usd

Features and Specification

Camera Features#
name	Stream_rgb	Stream_ir_left	Stream_ir_right
focalLength	2.9700000286102295	1.809999942779541	1.809999942779541
focusDistance	80.0	45.0	45.0
fStop	0.0	0.0	0.0
projection	perspective	perspective	perspective
stereoRole	mono	right	left
horizontalAperture	5.539000034332275	3.880000114440918	3.880000114440918
verticalAperture	3.0920000076293945	2.440000057220459	2.440000057220459
clippingRange	(0.005, 1000)	(0.005, 1000)	(0.005, 1000)
cameraProjectionType	pinhole	pinhole	pinhole
nominalWidth	1936.0	1936.0	1936.0
nominalHeight	1216.0	1216.0	1216.0
opticalCenterX	970.94244	970.94244	970.94244
opticalCenterY	600.37482	600.37482	600.37482
maxFOV	200.0	200.0	200.0
polyK0	0.0	0.0	0.0
polyK1	0.00245	0.00245	0.00245
polyK2	0.0	0.0	0.0
polyK3	0.0	0.0	0.0
polyK4	0.0	0.0	0.0
polyK5	0.0	0.0	0.0
p0	-0.00037	-0.00037	-0.00037
p1	-0.00074	-0.00074	-0.00074
s0	-0.00058	-0.00058	-0.00058
s1	-0.00022	-0.00022	-0.00022
s2	0.00019	0.00019	0.00019
s3	-0.0002	-0.0002	-0.0002
physicalDistortionCoefficients	Not Applicable	Not Applicable	Not Applicable
physicalDistortionModel	Not Applicable	Not Applicable	Not Applicable

Orbbec Gemini 335L (Certified by Orbbec)#

To create the sensor from the Content Browser: Isaac Sim>Sensors>Orbbec>Gemini335L>orbbec_gemini_335L.usd

Features and Specification

Camera Features#
name	Camera_ir_left	Camera_ir_right	Camera_rgb
focalLength	1.809999942779541	1.809999942779541	1.809999942779541
focusDistance	45.0	45.0	0.44999998807907104
fStop	0.0	0.0	0.0
projection	perspective	perspective	perspective
stereoRole	mono	mono	mono
horizontalAperture	3.8399999141693115	3.8399999141693115	3.8399999141693115
verticalAperture	2.4000000953674316	2.4000000953674316	2.4000000953674316
clippingRange	(0.005, 100000)	(0.005, 100000)	(0.005, 100000)
cameraProjectionType	pinhole	pinhole	pinhole
nominalWidth	1936.0	1936.0	1936.0
nominalHeight	1216.0	1216.0	1216.0
opticalCenterX	970.94244	970.94244	970.94244
opticalCenterY	600.37482	600.37482	600.37482
maxFOV	200.0	200.0	200.0
polyK0	0.0	0.0	0.0
polyK1	0.00245	0.00245	0.00245
polyK2	0.0	0.0	0.0
polyK3	0.0	0.0	0.0
polyK4	0.0	0.0	0.0
polyK5	0.0	0.0	0.0
p0	-0.00037	-0.00037	-0.00037
p1	-0.00074	-0.00074	-0.00074
s0	-0.00058	-0.00058	-0.00058
s1	-0.00022	-0.00022	-0.00022
s2	0.00019	0.00019	0.00019
s3	-0.0002	-0.0002	-0.0002
physicalDistortionCoefficients	Not Applicable	Not Applicable	Not Applicable
physicalDistortionModel	Not Applicable	Not Applicable	Not Applicable

Luxonis#

OAK4-D (Certified by Luxonis)#

OAK4-D (Certified)#

The Luxonis OAK4-D is an RVC4-generation stereo depth camera powered by the Qualcomm QCS8550 AI SoC, featuring a 48MP RGB sensor (Sony IMX586), global-shutter stereo pair (OV9282), and 6-axis IMU with magnetometer. Built for high-performance robotics and industrial vision applications.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Luxonis>OAK4-D>oak4_d.usd

Features and Specification

Features and Specification#

Camera Features#

Parameter	Camera_rgb_imx586	Camera_left_ov9282	Camera_right_ov9282	Camera_pseudo_depth
focalLength	4.7442	2.4138	2.4138	2.4138
focusDistance	500.0	196.0	196.0	196.0
fStop	0.0	0.0	0.0	0.0
projection	perspective	perspective	perspective	perspective
stereoRole	mono	left	right	mono
horizontalAperture	6.400	3.84	3.84	3.84
verticalAperture	4.800	2.4	2.4	2.4
horizontalApertureOffset	0.0	0.0	0.0	0.0
verticalApertureOffset	0.0	0.0	0.0	0.0
clippingRange	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)
cameraProjectionType	pinhole	pinhole	pinhole	pinhole
nominalWidth	4000	1280	1280	1280
nominalHeight	3000	800	800	800
opticalCenterX	2000.00	640.00	640.00	640.00
opticalCenterY	1500.00	400.00	400.00	400.00
maxFOV	80.3	86.3	86.3	86.3
polyK0	0.0	0.0	0.0	0.0
polyK1	0.00245	0.00245	0.00245	0.00245
polyK2	0.0	0.0	0.0	0.0
polyK3	0.0	0.0	0.0	0.0
polyK4	0.0	0.0	0.0	0.0
polyK5	0.0	0.0	0.0	0.0
p0	-0.00037	-0.00037	-0.00037	-0.00037
p1	-0.00074	-0.00074	-0.00074	-0.00074
s0	-0.00058	-0.00058	-0.00058	-0.00058
s1	-0.00022	-0.00022	-0.00022	-0.00022
s2	0.00019	0.00019	0.00019	0.00019
s3	-0.0002	-0.0002	-0.0002	-0.0002

Other Features#

Platform: Qualcomm QCS8550 AI SoC (RVC4)
IMU: ICM-42688-P (6-axis) + AK09919C (magnetometer)
Stereo Baseline: 75 mm
Ideal Range: 0.6 m to 12 m
Depth Accuracy: < 1.5% at 4 m
RGB: Sony IMX586, 48MP Quad-Bayer, 4000x3000 binned output

Datasheet#

For the datasheet and full list of specifications, visit the OAK4-D product page.

OAK4-D Wide (Certified by Luxonis)#

OAK4-D Wide (Certified)#

The Luxonis OAK4-D Wide is an RVC4-generation wide-FOV stereo depth camera powered by the Qualcomm QCS8550 AI SoC, featuring a 48MP RGB sensor (Sony IMX586), global-shutter stereo pair (OV9282), and 6-axis IMU with magnetometer. A wide-FOV variant of the OAK4-D, designed for close-range and broader coverage applications.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Luxonis>OAK4-D_Wide>oak4_d_wide.usd

Features and Specification

Features and Specification#

Camera Features#

Parameter	Camera_rgb_imx586	Camera_left_ov9282	Camera_right_ov9282	Camera_pseudo_depth
focalLength	3.3137	1.6987	1.6987	1.6987
focusDistance	500.0	196.0	196.0	196.0
fStop	0.0	0.0	0.0	0.0
projection	perspective	perspective	perspective	perspective
stereoRole	mono	left	right	mono
horizontalAperture	6.400	3.84	3.84	3.84
verticalAperture	4.800	2.4	2.4	2.4
horizontalApertureOffset	0.0	0.0	0.0	0.0
verticalApertureOffset	0.0	0.0	0.0	0.0
clippingRange	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)
cameraProjectionType	pinhole	pinhole	pinhole	pinhole
nominalWidth	4000	1280	1280	1280
nominalHeight	3000	800	800	800
opticalCenterX	2000.00	640.00	640.00	640.00
opticalCenterY	1500.00	400.00	400.00	400.00
maxFOV	100.7	106.2	106.2	106.2
polyK0	0.0	0.0	0.0	0.0
polyK1	0.00245	0.00245	0.00245	0.00245
polyK2	0.0	0.0	0.0	0.0
polyK3	0.0	0.0	0.0	0.0
polyK4	0.0	0.0	0.0	0.0
polyK5	0.0	0.0	0.0	0.0
p0	-0.00037	-0.00037	-0.00037	-0.00037
p1	-0.00074	-0.00074	-0.00074	-0.00074
s0	-0.00058	-0.00058	-0.00058	-0.00058
s1	-0.00022	-0.00022	-0.00022	-0.00022
s2	0.00019	0.00019	0.00019	0.00019
s3	-0.0002	-0.0002	-0.0002	-0.0002

Other Features#

Platform: Qualcomm QCS8550 AI SoC (RVC4)
IMU: ICM-42688-P (6-axis) + AK09919C (magnetometer)
Stereo Baseline: 75 mm
Ideal Range: 0.2 m to 8 m
Depth Accuracy: < 2% at 3.5 m
RGB: Sony IMX586, 48MP Quad-Bayer, 4000x3000 binned output
Wide-angle optics for close-range and broader coverage

Datasheet#

For the datasheet and full list of specifications, visit the OAK4-D Wide product page.

OAK-D Pro PoE (Certified by Luxonis)#

OAK-D Pro PoE (Certified)#

The Luxonis OAK-D Pro PoE is an RVC2-generation stereo depth camera featuring a 4K RGB sensor (Sony IMX378), global-shutter stereo pair (OV9282), active IR illumination, 9-axis IMU (BNO086), and Power over Ethernet (PoE) connectivity. Designed for robotics and industrial applications requiring accurate depth perception.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Luxonis>OAK-D_Pro_PoE>oak_d_pro_poe.usd

Features and Specification

Features and Specification#

Camera Features#

Parameter	Camera_rgb_imx378	Camera_left_ov9282	Camera_right_ov9282	Camera_pseudo_depth
focalLength	4.7626	2.4138	2.4138	2.4138
focusDistance	500.0	196.0	196.0	196.0
fStop	0.0	0.0	0.0	0.0
projection	perspective	perspective	perspective	perspective
stereoRole	mono	left	right	mono
horizontalAperture	5.952	3.84	3.84	3.84
verticalAperture	3.348	2.4	2.4	2.4
horizontalApertureOffset	0.0	0.0	0.0	0.0
verticalApertureOffset	0.0	0.0	0.0	0.0
clippingRange	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)
cameraProjectionType	pinhole	pinhole	pinhole	pinhole
nominalWidth	3840	1280	1280	1280
nominalHeight	2160	800	800	800
opticalCenterX	1920.00	640.00	640.00	640.00
opticalCenterY	1080.00	400.00	400.00	400.00
maxFOV	82.0	89.5	89.5	89.5
polyK0	0.0	0.0	0.0	0.0
polyK1	0.00245	0.00245	0.00245	0.00245
polyK2	0.0	0.0	0.0	0.0
polyK3	0.0	0.0	0.0	0.0
polyK4	0.0	0.0	0.0	0.0
polyK5	0.0	0.0	0.0	0.0
p0	-0.00037	-0.00037	-0.00037	-0.00037
p1	-0.00074	-0.00074	-0.00074	-0.00074
s0	-0.00058	-0.00058	-0.00058	-0.00058
s1	-0.00022	-0.00022	-0.00022	-0.00022
s2	0.00019	0.00019	0.00019	0.00019
s3	-0.0002	-0.0002	-0.0002	-0.0002

Other Features#

Platform: Intel Myriad X VPU (RVC2)
Dimensions: 111 x 40 x 31.3 mm
IMU: BNO086 (9-axis)
Stereo Baseline: 75 mm
Ideal Range: 0.8 m to 12 m
Depth Accuracy: < 2% at 4 m
Connectivity: Power over Ethernet (PoE)
Active IR illumination for structured light in low-light conditions

Datasheet#

For the datasheet and full list of specifications, visit the OAK-D Pro PoE product page.

OAK-D Pro W PoE (Certified by Luxonis)#

OAK-D Pro W PoE (Certified)#

The Luxonis OAK-D Pro W PoE is an RVC2-generation wide-FOV stereo depth camera featuring a 4K RGB sensor (Sony IMX378), global-shutter stereo pair (OV9282), active IR illumination, 9-axis IMU (BNO086), and Power over Ethernet (PoE) connectivity. A wide-FOV variant with wider RGB and stereo optics, designed for close-range and broader coverage applications.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Luxonis>OAK-D_Pro_W_PoE>oak_d_pro_w_poe.usd

Features and Specification

Features and Specification#

Camera Features#

Parameter	Camera_rgb_imx378	Camera_left_ov9282	Camera_right_ov9282	Camera_pseudo_depth
focalLength	3.5467	1.6987	1.6987	1.6987
focusDistance	500.0	196.0	196.0	196.0
fStop	0.0	0.0	0.0	0.0
projection	perspective	perspective	perspective	perspective
stereoRole	mono	left	right	mono
horizontalAperture	5.952	3.84	3.84	3.84
verticalAperture	3.348	2.4	2.4	2.4
horizontalApertureOffset	0.0	0.0	0.0	0.0
verticalApertureOffset	0.0	0.0	0.0	0.0
clippingRange	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)
cameraProjectionType	pinhole	pinhole	pinhole	pinhole
nominalWidth	3840	1280	1280	1280
nominalHeight	2160	800	800	800
opticalCenterX	1920.00	640.00	640.00	640.00
opticalCenterY	1080.00	400.00	400.00	400.00
maxFOV	108.0	127.0	127.0	127.0
polyK0	0.0	0.0	0.0	0.0
polyK1	0.00245	0.00245	0.00245	0.00245
polyK2	0.0	0.0	0.0	0.0
polyK3	0.0	0.0	0.0	0.0
polyK4	0.0	0.0	0.0	0.0
polyK5	0.0	0.0	0.0	0.0
p0	-0.00037	-0.00037	-0.00037	-0.00037
p1	-0.00074	-0.00074	-0.00074	-0.00074
s0	-0.00058	-0.00058	-0.00058	-0.00058
s1	-0.00022	-0.00022	-0.00022	-0.00022
s2	0.00019	0.00019	0.00019	0.00019
s3	-0.0002	-0.0002	-0.0002	-0.0002

Other Features#

Platform: Intel Myriad X VPU (RVC2)
Dimensions: 111 x 40 x 31.3 mm
IMU: BNO086 (9-axis)
Stereo Baseline: 75 mm
Ideal Range: 0.2 m to 8 m
Depth Accuracy: < 2% at 4 m
Connectivity: Power over Ethernet (PoE)
Active IR illumination for structured light in low-light conditions
Wide-angle optics for close-range and broader coverage

Datasheet#

For the datasheet and full list of specifications, visit the OAK-D Pro W PoE product page.

OAK-D ToF (Certified by Luxonis)#

OAK-D ToF (Certified)#

The Luxonis OAK-D ToF is an RVC2-generation depth camera with Time-of-Flight (3D) and color stereo cameras (OV9782). This model does not include a dedicated RGB camera, instead providing dual depth sensing through both stereo disparity and Time-of-Flight methods.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Luxonis>OAK-D_ToF>oak_d_tof.usd

Features and Specification

Features and Specification#

Camera Features#

Parameter	Camera_33d	Camera_left_ov9782	Camera_right_ov9782	Camera_pseudo_depth	Camera_pseudo_depth_tof
focalLength	3.1991	2.2882	2.2882	2.2882	3.1991
focusDistance	500.0	196.0	196.0	196.0	500.0
fStop	0.0	0.0	0.0	0.0	0.0
projection	perspective	perspective	perspective	perspective	perspective
stereoRole	mono	left	right	mono	mono
horizontalAperture	4.480	3.840	3.840	3.840	4.480
verticalAperture	3.360	2.400	2.400	2.400	3.360
horizontalApertureOffset	0.0	0.0	0.0	0.0	0.0
verticalApertureOffset	0.0	0.0	0.0	0.0	0.0
clippingRange	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)
cameraProjectionType	pinhole	pinhole	pinhole	pinhole	pinhole
nominalWidth	640	1280	1280	1280	640
nominalHeight	480	800	800	800	480
opticalCenterX	320.00	640.00	640.00	640.00	320.00
opticalCenterY	240.00	400.00	400.00	400.00	240.00
maxFOV	70.0	80.0	80.0	80.0	70.0
polyK0	0.0	0.0	0.0	0.0	0.0
polyK1	0.00245	0.00245	0.00245	0.00245	0.00245
polyK2	0.0	0.0	0.0	0.0	0.0
polyK3	0.0	0.0	0.0	0.0	0.0
polyK4	0.0	0.0	0.0	0.0	0.0
polyK5	0.0	0.0	0.0	0.0	0.0
p0	-0.00037	-0.00037	-0.00037	-0.00037	-0.00037
p1	-0.00074	-0.00074	-0.00074	-0.00074	-0.00074
s0	-0.00058	-0.00058	-0.00058	-0.00058	-0.00058
s1	-0.00022	-0.00022	-0.00022	-0.00022	-0.00022
s2	0.00019	0.00019	0.00019	0.00019	0.00019
s3	-0.0002	-0.0002	-0.0002	-0.0002	-0.0002

Other Features#

Platform: Intel Myriad X VPU (RVC2)
IMU: Yes
Stereo Baseline: 20 mm
ToF Baseline (simulation): 0.5 mm
Ideal Range (stereo): 0.3 m to 1 m
Ideal Range (ToF): 0.2 m to 5 m
Depth Accuracy (ToF): < 1% indoors, < 2% outdoors
Dual depth sensing: stereo disparity-based and Time-of-Flight

Datasheet#

For the datasheet and full list of specifications, visit the OAK-D ToF product page.

SICK#

safeVisionary2 (Certified by SICK)#

safeVisionary2 (Certified)#

The SICK safeVisionary2 is a high resolution 3D ToF safety camera which allows to safeguard applications with performance level c. Thanks to the precise measurement data, the camera also reliably solves automation tasks.

To create the sensor from the Content Browser: Isaac Sim>Sensors>SICK>safeVisionary2>SICK_safeVisionary2.usd

Features and Specification

Features and Specification#

This depth sensor should be used with a resolution of 512 x 424 px (0.2 MP) and a maximum frequency of 30 Hz.

In order to obtain the depth values, use e.g. the depth_to_camera annotator described here.

Visualization of Fields#

In order to visualize the different volumes (fields) in which safety relevant features may be implemented, this model includes 3D models of these 3D volumes. To switch between different fields, use the Variant Set “Field” defined on the default prim. The meaning of these fields can be found on the product page. The most important information is summarized in the table below:

Field	Name	Opening angle	Range
Field00	None	-	-
Field01	Protective Field, Hand	68° × 42°	1 m
Field02	Protective Field, Arm	68° × 42°	1.6 m
Field03	Protective Field, Leg/Body	68° × 42°	2 m
Field04	Protective Field, Extended Range	68° × 42°	4 m
Field05	Contour Detection Field, Hand	68° × 58°	1 m
Field06	Contour Detection Field, Arm	68° × 58°	1.6 m
Field07	Contour Detection Field, Leg/Body/Gap 40 cm	68° × 58°	2 m
Field08	Contour Detection Field, Extended Range/Gap 100 cm	68° × 58°	4 m
Field09	Warning Field	68° × 58°	7.37 m
Field10	Field of View: Measurement Data	68° × 58°	16 m

ℹ️ Note For the datasheet and full list of specifications, visit the safeVisionary2 product page.

For guidance on how to use this sensor optimally in Isaac Sim or for information about a higher-fidelity sensor model (including a noise model and the intensity data), use the contact function on the SICK digital twin landing page.

Visionary-T Mini (Certified by SICK)#

Visionary-T Mini (Certified)#

The SICK Visionary-T Mini is a compact 3D snapshot time‑of‑flight camera that delivers reliable data in real time. It can be used as a data streamer, for precise depth perception, and in a wide range of applications including logistics, robotics, and industrial vehicles.

Features and Specification#

This depth sensor should be used with a resolution of 512 x 424 px (0.2 MP) and a maximum frequency of 30 Hz.

In order to obtain the depth values, use e.g. the depth_to_camera annotator described here.

ℹ️ Note For the datasheet and full list of specifications, visit the Visionary-T Mini product page.

For guidance on how to use this sensor optimally in Isaac Sim or for information about a higher-fidelity sensor model (including a noise model and the intensity data), use the contact function on the SICK digital twin landing page.

To create the sensor from the Content Browser: Isaac Sim>Sensors>SICK>Visionary-T_Mini>SICK_Visionary-T_Mini.usd

Stereolabs#

ZED X (Certified by Stereolabs)#

The ZED X Stereo Camera from Stereolabs consists of two 1200p 60fps RGB image sensors and a 6-axis IMU, all simulated in the NVIDIA Isaac Sim.

Zed X Camera — To create the camera from the menu: *Create>Sensors>Camera and Depth Sensors>Stereolabs>ZED_X*#

To create the sensor from the Content Browser: Isaac Sim>Sensors>Stereolabs>ZED_X>ZED_X.usd

Features and Specification

Camera Features#
name	CameraLeft	CameraRight
focalLength	2.2079999446868896	2.2079999446868896
focusDistance	28.0	28.0
fStop	0.0	0.0
projection	perspective	perspective
stereoRole	left	right
horizontalAperture	5.760000228881836	5.760000228881836
verticalAperture	3.240000009536743	3.240000009536743
clippingRange	(0.01, 100000)	(0.01, 100000)
cameraProjectionType	pinhole	pinhole
nominalWidth	1936.0	1936.0
nominalHeight	1216.0	1216.0
opticalCenterX	970.94244	970.94244
opticalCenterY	600.37482	600.37482
maxFOV	200.0	200.0
polyK0	0.0	0.0
polyK1	0.00245	0.00245
polyK2	0.0	0.0
polyK3	0.0	0.0
polyK4	0.0	0.0
polyK5	0.0	0.0
p0	-0.00037	-0.00037
p1	-0.00074	-0.00074
s0	-0.00058	-0.00058
s1	-0.00022	-0.00022
s2	0.00019	0.00019
s3	-0.0002	-0.0002
physicalDistortionCoefficients	Not Applicable	Not Applicable
physicalDistortionModel	Not Applicable	Not Applicable

Other Features

Dimensions: 163.4 mm (length) by 31.8 mm (depth) by 36.7 mm (height)
Operating Temperature: -20C to 55C

Note

For the datasheet and full list of specifications, visit the ZED X datasheet, for usage in Isaac Sim, see Stereolabs Documentation.

ZED X Mini (Certified by Stereolabs)#

The ZED X Mini Stereo Camera from Stereolabs consists of two 1200p 60fps RGB image sensors and a 6-axis IMU, all simulated in the NVIDIA Isaac Sim.

To create the sensor from the Content Browser: Isaac Sim>Sensors>Stereolabs>ZED_X_mini>ZED_X_Mini.usd

Features and Specification

Camera Features#
name	CameraRight	CameraLeft
focalLength	2.2079999446868896	2.2079999446868896
focusDistance	28.0	28.0
fStop	0.0	0.0
projection	perspective	perspective
stereoRole	right	left
horizontalAperture	5.760000228881836	5.760000228881836
verticalAperture	3.240000009536743	3.240000009536743
clippingRange	(0.01 100000)	(0.01 100000)
cameraProjectionType	pinhole	pinhole
nominalWidth	1936.0	1936.0
nominalHeight	1216.0	1216.0
opticalCenterX	970.94244	970.94244
opticalCenterY	600.37482	600.37482
maxFOV	200.0	200.0
polyK0	0.0	0.0
polyK1	0.00245	0.00245
polyK2	0.0	0.0
polyK3	0.0	0.0
polyK4	0.0	0.0
polyK5	0.0	0.0
p0	-0.00037	-0.00037
p1	-0.00074	-0.00074
s0	-0.00058	-0.00058
s1	-0.00022	-0.00022
s2	0.00019	0.00019
s3	-0.0002	-0.0002
physicalDistortionCoefficients	Not Applicable	Not Applicable
physicalDistortionModel	Not Applicable	Not Applicable

Other Features

Dimensions: 93.6 mm (length) by 31.8 mm (depth) by 36.7 mm (height)
Operating Temperature: -20C to 55C

Note

For the datasheet and full list of specifications, visit the ZED X Mini datasheet, for usage in Isaac Sim, see Stereolabs Documentation.

Transformation	x	y	z
Rotation (degrees)	0.0	90	0.0
Translation (meters)	0.0	-0.0947	0.0061

Transformation	x	y	z
Rotation (degrees)	0.0	0.0	0.0
Translation (meters)	0.016	-0.01728	0.0074

Transformation	x	y	z
Rotation (degrees)	0.0	0.0	0.0
Translation (meters)	0.016	-0.01728	0.0074

Transformation	x	y	z
Rotation (degrees)	0.0	0.0	0.0
Translation (meters)	0.016	-0.01728	0.0074

Transformation	x	y	z
Rotation (degrees)	-90.0	0.0	0.0
Translation (meters)	0.06	-0.0	0.00185