USD Schemas#
rangeSensorSchema#
Deprecated since 6.2.0: The rangeSensorSchema (RangeSensor, Lidar, Generic) is deprecated. Used only by the deprecated
isaacsim.sensors.physxextension. UseIsaacRaycastSensorfrom theisaacSensorSchemaplugin withisaacsim.sensors.experimental.physicsorisaacsim.sensors.experimental.rtxinstead.
RangeSensor#
enabled#
Flag used to enable or disable this sensor
drawPoints#
Set to true to draw debug points on sensor hit locations
drawLines#
Set to true to draw debug lines representing sensor ray casts
minRange#
Minimum range for sensor to detect a hit
maxRange#
Maximum range for sensor to detect a hit
Lidar#
yawOffset#
Offset along yaw axis to account for sensor having a different forward direction
rotationRate#
Rotation rate of sensor in Hz, set to zero to make sensor fire all rays at once
highLod#
Enable High Lod for 3D Lidar sensor
horizontalFov#
Horizontal Field of View in degrees
verticalFov#
Vertical Field of View in degrees
horizontalResolution#
Degrees in between rays for horizontal axis
verticalResolution#
Degrees in between rays for vertical axis
enableSemantics#
Set to true to get semantic information of sensor hit locations
Generic#
samplingRate#
sampling rate of the custom sensor data in Hz
streaming#
Streaming lidar point data. Default to true
isaacSensorSchema#
IsaacBaseSensor#
enabled#
Set to True to enable this sensor, False to Disable
IsaacRtxLidarSensorAPI#
IsaacRtxRadarSensorAPI#
IsaacContactSensor#
threshold#
Min, Max force that is detected by this sensor, units in (kg) * (stage length unit) / (second)^2
radius#
Radius of the contact sensor, unit in stage length unit
color#
Color of the contact sensor sphere, R, G, B, A
sensorPeriod#
Time between each sensor measurement, unit in simulator seconds
IsaacImuSensor#
sensorPeriod#
Time between each sensor measurement, unit in simulator seconds
linearAccelerationFilterWidth#
Number of linear acceleration measurements used in the rolling average
angularVelocityFilterWidth#
Number of angular velocity measurements used in the rolling average
orientationFilterWidth#
Number of orientation measurements used in the rolling average
IsaacLightBeamSensor#
Deprecated since 6.2.0: IsaacLightBeamSensor is deprecated. Used only by the deprecated
isaacsim.sensors.physxextension. UseIsaacRaycastSensorwithisaacsim.sensors.experimental.physicsinstead.
numRays#
Number of rays for the light curtain, default 1
curtainLength#
Total length of the light curtain
forwardAxis#
Direction to shoot the light beam in [AxisX, AxisY, AxisZ]
curtainAxis#
Direction to expand the light curtain in [AxisX, AxisY, AxisZ]
minRange#
Minimum range for sensor to detect a hit
maxRange#
Maximum range for sensor to detect a hit
IsaacRaycastSensor#
numRays#
Number of rays cast by this sensor (unsigned int, authoritative count)
minRange#
Minimum range for sensor to detect a hit, in stage length units
maxRange#
Maximum range for sensor to detect a hit, in stage length units
rayOrigins#
Per-ray origin translations in the sensor’s local coordinate frame
rayDirections#
Per-ray cast direction vectors in the sensor’s local coordinate frame
rayTimeOffsets#
Per-ray time offsets in seconds, relative to the current simulation time
outputFrameOfReference#
Coordinate frame for hit positions and hit normals (‘SENSOR’ or ‘WORLD’)
reportHitPrimPaths#
When true, the sensor reading includes the USD prim path of each hit surface