Physics-based sensors

Isaac Sim’s physics-based sensors use CPU physics simulations and run after rendering finishes. They have access to a prim’s physics properties, like mass and velocity.

These sensors output the exact measurements from the physics engine, and you can augment the sensor readings in post-processing. By default, sensors output data at the physics rate. To generate data beyond this rate, provide additional interpolation options. Ground truth readings from the simulator might already have some noise; you can add more noise in post-processing to make sensor readings more realistic.

The physics-based sensors are organized in the isaacsim.sensors.experimental.physics extension.

Deprecated since version 6.0: The isaacsim.sensors.physics extension is deprecated. Use isaacsim.sensors.experimental.physics instead. The new extension provides equivalent sensor classes (ContactSensor, IMUSensor, EffortSensor, etc.) with the same core functionality. See Physics Sensors for step-by-step migration instructions, or the API Documentation for the replacement APIs.

Isaac Sim supports the following physics-based ground truth sensors:

• Articulation joint sensors
• Contact sensor
• Effort sensor
• IMU sensor
• Joint state sensor
• Physics raycast sensor