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[isaacsim.gui.sensors.icon] Sensor Icon#

Version: 2.2.0

Overview#

The isaacsim.gui.sensors.icon extension renders sensor icons in the viewport and stage hierarchy for visual identification of camera, lidar, IMU, and other sensor prims in Isaac Sim.

Concepts#

Sensor Icon System#

The extension automatically detects various sensor types in the USD stage and displays interactive icons at their world positions. Supported sensor types include OmniLidar, IsaacContactSensor, IsaacImuSensor, and IsaacRaycastSensor, as well as deprecated types (Lidar, IsaacLightBeamSensor, Generic) for backward compatibility.

Icons are positioned based on the sensor prim’s world transform and update dynamically when the stage changes or when sensors are moved. Each icon can have custom click callbacks for interactive behavior.

Visual Integration#

The extension integrates with both the 3D viewport and stage widget to provide consistent sensor visualization. In the viewport, icons appear as overlay graphics positioned at sensor locations. In the stage hierarchy, sensor prims display custom icons to help users quickly identify different sensor types.

Key Components#

IconModel#

The IconModel class serves as a manipulator model that manages all sensor icons within the viewport scene. It automatically scans the USD stage for recognized sensor prims and creates corresponding icon items.

The model maintains connections to both USD and USDRT stages for efficient querying and real-time updates. It responds to stage events such as opening, closing, and frame updates to keep icons synchronized with the current scene state.

model = IconModel()
model.add_sensor_icon("/World/Camera", "path/to/camera_icon.png")
model.set_icon_click_fn("/World/Camera", callback_function)

IconScene#

IconScene provides the viewport window and manipulator framework for displaying sensor icons. It manages the visual presentation layer and handles icon scaling and visibility states.

scene = IconScene(title="Sensor Icons", icon_scale=1.5)
scene.visible = True  # Show/hide all sensor icons

Singleton Management#

The extension uses a singleton pattern accessed through get_instance to ensure consistent sensor icon management across the application. This provides a central point for adding, removing, and configuring sensor icons.

Functionality#

Automatic Sensor Detection#

The extension continuously monitors the USD stage for sensor prims and automatically creates icons for newly added sensors. Icons are removed when their corresponding prims are deleted from the stage.

Interactive Icons#

Each sensor icon can have custom click callbacks, enabling interactive workflows where users can click sensor icons to open configuration panels, focus cameras, or trigger other sensor-specific actions.

Visibility Control#

Sensor icons respect both USD visibility attributes and the extension’s global visibility settings. Icons can be shown or hidden individually or collectively through the viewport’s “Show By Type” menu under the “Sensors” category.

Stage Widget Integration#

The extension integrates with **omni.kit.widget.stage** to display custom icons for sensor prims directly in the stage hierarchy, making it easier to identify different sensor types at a glance.

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.gui.sensors.icon

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.gui.sensors.icon" = {}

Open the Window > Extensions menu in a running application instance and search for isaacsim.gui.sensors.icon. Then, toggle the enable control button if it is not already active.

Extension: {{ extension_version }}

Documentation Generated: Jun 05, 2026

Settings#

Settings Provided by the Extension#

exts.”isaacsim.gui.sensors.icon”.timeout#

  • Default Value: 5

  • Description: Timeout for resolving sensor icon display.

exts.”omni.kit.prim.sensor”.showTitle#

  • Default Value: false

  • Description: Whether to show prim name alongside the sensor icon.

persistent.exts.”isaacsim.gui.sensors.icon”.visible_on_startup#

  • Default Value: false

  • Description: Whether to show sensor icons in viewport on startup.