Creating Custom RTX Sensor Profiles

Note

This section is under development. Additional content will be added in a future update.

This page covers how to create custom RTX sensor configurations by setting attributes on OmniLidar and OmniRadar prims.

Getting Started

When creating custom RTX sensor profiles, it is recommended to start with an existing Lidar or Radar configuration shipped with Isaac Sim as a reference:

• RTX Lidar Asset Library - Pre-configured Lidar sensors from various vendors

• RTX Radar Sensor - RTX Radar documentation and examples

You can load an existing configuration, inspect its USD attributes in the Property panel, and modify them to suit your needs.

Setting Lidar Attributes

RTX Lidar sensors are configured via USD attributes on OmniLidar prims using the OmniSensorGenericLidarCoreAPI schema.

Key configuration areas include:

• Output configuration: Setting coordinate systems, motion compensation, and auxiliary data detail levels

• Scanning principle: Configuring rotary vs. solid-state scanning

• Firing pattern: Defining scan rate, emitter patterns, and number of returns

• Field of view: Constraining azimuth and elevation ranges

• Intensity modeling: Configuring beam properties, detector sensitivity, and atmospheric effects

For complete documentation on all Lidar attributes and their values, see Setting Lidar Attributes in the Omniverse Lidar Extension documentation.

Setting Radar Attributes

RTX Radar sensors are configured via USD attributes on OmniRadar prims using the OmniSensorGenericRadarWpmDmatAPI schema.

For complete documentation on all Radar attributes and their values, see Setting Radar Attributes in the Omniverse Radar Extension documentation.

Schema Reference

For the full USD schema definitions, refer to:

• OmniSensorGenericLidarCoreAPI Schema

• OmniSensorGenericLidarCoreEmitterStateAPI Schema

• OmniSensorGenericRadarWpmDmatAPI Schema

Validating Your Configuration

After creating a custom sensor configuration, you can validate it by:

1. Adding the sensor to a scene using the methods described in RTX Lidar Sensor or RTX Radar Sensor.

2. Visualizing the sensor output using the Debug Draw Extension or the techniques described in Visualizing RTX Lidar Output and Visualizing RTX Radar Output.

3. Collecting data using RTX Sensor Annotators to verify the output matches your expectations.

Converting Legacy JSON Configurations

Isaac Sim includes a utility tool to automatically convert legacy JSON Lidar configuration files to USD files containing OmniLidar prims. See Convert a JSON File to an OmniLidar USD File for details.