Is this page helpful?

[isaacsim.sensors.rtx.nodes] Isaac Sim RTX Sensor Nodes#

Version: 0.1.0

Overview#

The isaacsim.sensors.rtx.nodes extension provides OmniGraph nodes for extracting and visualising point cloud data from RTX sensors (Lidar and Radar).

It is a companion to isaacsim.sensors.experimental.rtx and keeps OmniGraph / native-plugin dependencies out of that base extension.

Provided Components#

OmniGraph Node#

  • IsaacExtractRTXSensorPointCloud — reads the GenericModelOutput buffer produced by an OmniLidar or OmniRadar prim and outputs a Cartesian (x, y, z) point cloud. Spherical-to-Cartesian conversion is performed in parallel when the buffer contains spherical coordinates.

Annotator#

  • IsaacExtractRTXSensorPointCloud — Replicator annotator backed by the node above. Attach it to a render product to get per-frame point cloud data.

Writer#

  • RtxSensorDebugDrawPointCloud — Replicator writer that feeds the annotator output into the DebugDrawPointCloud node for viewport visualisation. Works with both Lidar and Radar sensors.

Quick Start#

import omni.replicator.core as rep
from isaacsim.sensors.experimental.rtx import Lidar

lidar = Lidar.create("/World/lidar", config="Example_Rotary")
render_product = rep.create.render_product(lidar.paths[0], resolution=(1, 1))

writer = rep.writers.get("RtxSensorDebugDrawPointCloud")
writer.initialize(size=0.05, color=[0.0, 1.0, 0.5, 1.0])
writer.attach([render_product.path])

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.nodes

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

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

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

Omnigraph Nodes#

The extension exposes the following Omnigraph nodes: