Isaac Read Physics Raycast Sensor Node#
Node that reads out physics raycast sensor depths, hit positions, hit normals, and optionally hit prim paths
Installation#
To use this node enable isaacsim.sensors.physics.nodes in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec In (inputs:execIn) |
|
The input execution port |
None |
Physics Raycast Sensor Prim (inputs:raycastSensorPrim) |
|
USD prim reference to the IsaacRaycastSensor prim |
None |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Beam End Points (outputs:beamEndPoints) |
|
Per-ray world-space hit endpoints (or max-range endpoints on miss) for debug draw |
[] |
Beam Origins (outputs:beamOrigins) |
|
Per-ray world-space origins for debug draw visualization |
[] |
Depths (outputs:depths) |
|
Per-ray depth in stage length units (maxRange on miss) |
None |
Exec Out (outputs:execOut) |
|
Output execution triggers when sensor has data |
None |
Hit Normals (outputs:hitNormals) |
|
Per-ray surface normals as flat array [x,y,z, x,y,z, …] (3*N floats, same frame) |
None |
Hit Positions (outputs:hitPositions) |
|
Per-ray hit positions as flat array [x,y,z, x,y,z, …] (3*N floats, frame per outputFrameOfReference) |
None |
Hit Prim Paths (outputs:hitPrimPaths) |
|
Per-ray hit prim USD paths (empty strings unless reportHitPrimPaths is true) |
None |
Num Rays (outputs:numRays) |
|
Number of rays in the sensor |
0 |
Sensor Time (outputs:sensorTime) |
|
Sensor reading timestamp |
0.0 |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.sensors.physics.IsaacReadRaycastSensor |
Version |
1 |
Extension |
isaacsim.sensors.physics.nodes |
Icon |
ogn/icons/isaacsim.sensors.physics.IsaacReadRaycastSensor.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Isaac Read Physics Raycast Sensor Node |
Categories |
isaacPhysicsSensor |
Generated Class Name |
OgnIsaacReadRaycastSensorDatabase |
Python Module |
isaacsim.sensors.physics.nodes |