Is this page helpful?

[isaacsim.sensors.rtx.ui] Isaac Sim RTX Sensor Simulation UI Components#

Version: 1.5.0

Overview#

This extension provides UI integration for creating RTX sensors in Isaac Sim. It adds menu items and actions that allow users to create RTX Lidar and RTX Radar sensors directly from the Create menu and viewport context menus, streamlining the sensor creation workflow within the Isaac Sim interface.

../../../../_images/preview30.png

Functionality#

RTX Sensor Creation#

The extension enables users to create RTX-based sensors through familiar UI interactions. RTX Lidar sensors are organized by vendor-specific configurations, allowing users to select from multiple manufacturer presets. RTX Radar sensors are also available for creation through the same interface.

When sensors are created, they are automatically placed at the next available path in the scene hierarchy. If prims are selected in the scene, newly created sensors can be automatically parented to those selected objects.

Vendor Organization#

RTX Lidar sensors are organized into vendor-specific submenus, making it easy for users to locate and select sensors based on manufacturer specifications. This organization helps users quickly identify the appropriate sensor configuration for their simulation requirements.

Key Components#

Action Registration#

The extension registers sensor creation actions with the action registry system, enabling these operations to be executed from multiple UI entry points. Each RTX sensor type has corresponding actions that handle the creation and placement logic.

Integration#

The extension integrates with isaacsim.sensors.experimental.rtx to access the underlying RTX sensor creation functionality and uses **omni.kit.actions.core** for action registration mechanisms. Context menu integration is provided through **omni.kit.context_menu**, enabling right-click sensor creation workflows in the viewport.

Preview

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.sensors.rtx.ui

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

[dependencies]
"isaacsim.sensors.rtx.ui" = {}

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

Actions in isaacsim.sensors.rtx.ui#

ID

Display Name

Description

create_lidar_Example_Rotary

Create NVIDIA Example Rotary RTX Lidar sensor

create_lidar_Example_Rotary_2D

Create NVIDIA Example Rotary 2D RTX Lidar sensor

create_lidar_Example_Solid_State

Create NVIDIA Example Solid State RTX Lidar sensor

create_lidar_HESAI_XT32_SD10

Create HESAI XT32 SD10 RTX Lidar sensor

create_lidar_OS0

Create Ouster OS0 RTX Lidar sensor

create_lidar_OS1

Create Ouster OS1 RTX Lidar sensor

create_lidar_OS2

Create Ouster OS2 RTX Lidar sensor

create_lidar_Ouster_VLS_128

Create Ouster VLS 128 RTX Lidar sensor

create_lidar_SICK_LMS4000

Create SICK LMS4000 RTX Lidar sensor

create_lidar_SICK_LMS5xx

Create SICK LMS5xx RTX Lidar sensor

create_lidar_SICK_LRS4000

Create SICK LRS4000 RTX Lidar sensor

create_lidar_SICK_MRS1000

Create SICK MRS1000 RTX Lidar sensor

create_lidar_SICK_TIM781

Create SICK TIM781 RTX Lidar sensor

create_lidar_SICK_microScan3

Create SICK microScan3 RTX Lidar sensor

create_lidar_SICK_multiScan100

Create SICK multiScan100 RTX Lidar sensor

create_lidar_SICK_nanoScan3

Create SICK nanoScan3 RTX Lidar sensor

create_lidar_SICK_picoScan100

Create SICK picoScan100 RTX Lidar sensor

create_lidar_Simple_Example_Solid_State

Create NVIDIA Simple Example Solid State RTX Lidar sensor

create_lidar_Slamtec_RPLIDAR_S2E

Create Slamtec RPLIDAR S2E RTX Lidar sensor

create_lidar_ZVISION_ML30S

Create ZVISION ML30S RTX Lidar sensor

create_lidar_ZVISION_MLXS

Create ZVISION MLXS RTX Lidar sensor

create_radar_IWRL6432AOP

Create TexasInstruments IWRL6432AOP RTX Radar sensor

create_rtx_acoustic

Create RTX Acoustic sensor

create_rtx_radar

Create RTX Radar sensor