Is this page helpful?

Public API for module isaacsim.sensors.rtx:#

Classes#

  • class IsaacSensorCreateRtxSensor(omni.kit.commands.Command)

    • def init(self, path: str | None = None, parent: str | None = None, config: str | None = None, usd_path: str | None = None, translation: Gf.Vec3d | None = Gf.Vec3d(0, 0, 0), orientation: Gf.Quatd | None = Gf.Quatd(1, 0, 0, 0), visibility: bool = False, variant: str | dict[str, str] | None = None, force_camera_prim: bool = False, **kwargs: Any)

    • def do(self) -> Usd.Prim

    • def undo(self)

  • class IsaacSensorCreateRtxLidar(IsaacSensorCreateRtxSensor)

    • def init(self, **kwargs: Any)

    • def do(self) -> Usd.Prim

  • class IsaacSensorCreateRtxRadar(IsaacSensorCreateRtxSensor)

    • def do(self) -> Usd.Prim | None

  • class IsaacSensorCreateRtxIDS(IsaacSensorCreateRtxSensor)

    • def init(self, **kwargs: Any)

  • class IsaacSensorCreateRtxUltrasonic(IsaacSensorCreateRtxSensor)

  • class Extension(omni.ext.IExt)

    • def on_startup(self, ext_id: str)

    • def on_shutdown(self)

  • class LidarRtx(BaseSensor)

    • static def make_add_remove_deprecated_attr(deprecated_attr: str) -> list[Callable]

    • def init(self, prim_path: str, name: str = ‘lidar_rtx’, position: np.ndarray | None = None, translation: np.ndarray | None = None, orientation: np.ndarray | None = None, config_file_name: str | None = None, **kwargs: Any)

    • def get_render_product_path(self) -> str | None

    • def get_current_frame(self) -> dict

    • def get_annotators(self) -> dict

    • def attach_annotator(self, annotator_name: Literal[IsaacComputeRTXLidarFlatScan, IsaacExtractRTXSensorPointCloudNoAccumulator, IsaacCreateRTXLidarScanBuffer, StableIdMap, GenericModelOutput], **kwargs: object)

    • def detach_annotator(self, annotator_name: str)

    • def detach_all_annotators(self)

    • def get_writers(self) -> dict

    • def attach_writer(self, writer_name: str, **kwargs: object)

    • def detach_writer(self, writer_name: str)

    • def detach_all_writers(self)

    • def initialize(self, physics_sim_view: Any = None)

    • def post_reset(self)

    • def resume(self)

    • def pause(self)

    • def is_paused(self) -> bool

    • def get_horizontal_resolution(self) -> float | None

    • def get_horizontal_fov(self) -> float | None

    • def get_num_rows(self) -> int | None

    • def get_num_cols(self) -> int | None

    • def get_rotation_frequency(self) -> float | None

    • def get_depth_range(self) -> tuple[float, float] | None

    • def get_azimuth_range(self) -> tuple[float, float] | None

    • def enable_visualization(self)

    • def disable_visualization(self)

    • def add_point_cloud_data_to_frame(self)

    • def add_linear_depth_data_to_frame(self)

    • def add_intensities_data_to_frame(self)

    • def add_azimuth_range_to_frame(self)

    • def add_horizontal_resolution_to_frame(self)

    • def add_range_data_to_frame(self)

    • def add_azimuth_data_to_frame(self)

    • def add_elevation_data_to_frame(self)

    • def remove_point_cloud_data_to_frame(self)

    • def remove_linear_depth_data_to_frame(self)

    • def remove_intensities_data_to_frame(self)

    • def remove_azimuth_range_to_frame(self)

    • def remove_horizontal_resolution_to_frame(self)

    • def remove_range_data_to_frame(self)

    • def remove_azimuth_data_to_frame(self)

    • def remove_elevation_data_to_frame(self)

    • static def decode_stable_id_mapping(stable_id_mapping_raw: bytes) -> dict

    • static def get_object_ids(obj_ids: np.ndarray) -> list[int]

Functions#

  • def delete_prim(prim_path: str)

  • def add_reference_to_stage(usd_path: str, prim_path: str, prim_type: str = ‘Xform’) -> Usd.Prim

  • def get_next_free_path(path: str, parent: str = None) -> str

  • def reset_and_set_xform_ops(prim: Usd.Prim, translation: Gf.Vec3d, orientation: Gf.Quatd, scale: Gf.Vec3d = Gf.Vec3d([1.0, 1.0, 1.0]))

  • def get_assets_root_path() -> str

  • def register_annotator_from_node_with_telemetry(*args: Any, **kwargs: Any)

  • def register_node_writer_with_telemetry(*args: Any, **kwargs: Any)

  • def get_prim_at_path(prim_path: str, fabric: bool = False) -> Usd.Prim | usdrt.Usd._Usd.Prim | None

  • def get_gmo_data(dataPtr: int | np.ndarray) -> gmo_utils.GenericModelOutput

  • def apply_nonvisual_material(prim: Usd.Prim, base: str | int, coating: str | int = ‘none’, attribute: str | int = ‘none’) -> bool

  • def get_material_id(prim: Usd.Prim) -> int

  • def decode_material_id(material_id: int) -> tuple[str, str, str]

Variables#

  • SUPPORTED_LIDAR_CONFIGS: dict[str, set[str] | list[dict[str, str]]]

  • SUPPORTED_LIDAR_VARIANT_SET_NAME: str

  • EXTENSION_NAME: str

  • NONE_BASE: Dict

  • METALS_BASE: Dict

  • POLYMERS_BASE: Dict

  • GLASS_BASE: Dict

  • OTHER_BASE: Dict

  • BASE_MATERIALS: Dict

  • COATINGS: Dict

  • ATTRIBUTES: Dict

  • ATTR_PREFIX: Unknown

  • ATTR_BASE: Unknown

  • ATTR_COATING: Unknown

  • ATTR_ATTRIBUTE: Unknown

Public API for module isaacsim.sensors.rtx.generic_model_output:#

Classes#

  • class AccessType

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • READ: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AccessType

    • RECORD_BASIC: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AccessType

    • RECORD_FULL: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AccessType

  • class AuxType

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • BASIC: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AuxType

    • EXTRA: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AuxType

    • FULL: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AuxType

    • NONE: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AuxType

  • class CoordsType

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • CARTESIAN: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.CoordsType

    • NOT_APPLICABLE: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.CoordsType

    • SPHERICAL: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.CoordsType

  • class ElementFlags

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • FLAG_1: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • FLAG_2: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • FLAG_3: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • FLAG_4: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • FLAG_5: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • FLAG_6: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • FLAG_7: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • VALID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

  • class FrameAtTime

    • def init(self)

    • [property] def orientation(self) -> typing.List[float]

    • [orientation.setter] def orientation(self, arg1: typing.List[float])

    • [property] def posM(self) -> typing.List[float]

    • [posM.setter] def posM(self, arg1: typing.List[float])

    • [property] def timestampNs(self) -> int

    • [timestampNs.setter] def timestampNs(self, arg0: int)

  • class FrameOfReference

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • CUSTOM: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.FrameOfReference

    • PARENT: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.FrameOfReference

    • SENSOR: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.FrameOfReference

    • WORLD: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.FrameOfReference

  • class GMOIOConfig

    • def init(self)

    • [property] def accessType(self) -> AccessType

    • [accessType.setter] def accessType(self, arg0: AccessType)

    • [property] def clientName(self) -> str

    • [clientName.setter] def clientName(self, arg1: str)

    • [property] def fileName(self) -> str

    • [fileName.setter] def fileName(self, arg1: str)

    • [property] def groupName(self) -> str

    • [groupName.setter] def groupName(self, arg1: str)

    • [property] def loop(self) -> bool

    • [loop.setter] def loop(self, arg0: bool)

    • [property] def maxPoints(self) -> int

    • [maxPoints.setter] def maxPoints(self, arg0: int)

    • [property] def onlyValid(self) -> bool

    • [onlyValid.setter] def onlyValid(self, arg0: bool)

  • class GenericModelOutput

    • def init(self)

    • [property] def auxType(self) -> AuxType

    • [auxType.setter] def auxType(self, arg0: AuxType)

    • [property] def azimuthOffset(self) -> float

    • [property] def channelId(self) -> numpy.ndarray

    • [property] def cycleCnt(self) -> int

    • [property] def echoId(self) -> numpy.ndarray

    • [property] def elementsCoordsType(self) -> CoordsType

    • [elementsCoordsType.setter] def elementsCoordsType(self, arg0: CoordsType)

    • [property] def emitterId(self) -> numpy.ndarray

    • [property] def filledAuxMembers(self) -> LidarAuxHas

    • [property] def flags(self) -> numpy.ndarray

    • [property] def frameEnd(self) -> FrameAtTime

    • [frameEnd.setter] def frameEnd(self, arg0: FrameAtTime)

    • [property] def frameId(self) -> int

    • [frameId.setter] def frameId(self, arg0: int)

    • [property] def frameOfReference(self) -> FrameOfReference

    • [frameOfReference.setter] def frameOfReference(self, arg0: FrameOfReference)

    • [property] def frameStart(self) -> FrameAtTime

    • [frameStart.setter] def frameStart(self, arg0: FrameAtTime)

    • [property] def hitNormals(self) -> numpy.ndarray

    • [property] def idsFilledAuxMembers(self) -> IDSAuxHas

    • [property] def idsVelocities(self) -> numpy.ndarray

    • [property] def magicNumber(self) -> int

    • [magicNumber.setter] def magicNumber(self, arg0: int)

    • [property] def majorVersion(self) -> int

    • [majorVersion.setter] def majorVersion(self, arg0: int)

    • [property] def matId(self) -> numpy.ndarray

    • [property] def materialId(self) -> numpy.ndarray

    • [property] def maxAzRad(self) -> float

    • [property] def maxElRad(self) -> float

    • [property] def maxRangeM(self) -> float

    • [property] def maxVelMps(self) -> float

    • [property] def minAzRad(self) -> float

    • [property] def minElRad(self) -> float

    • [property] def minVelMps(self) -> float

    • [property] def minorVersion(self) -> int

    • [minorVersion.setter] def minorVersion(self, arg0: int)

    • [property] def modality(self) -> Modality

    • [modality.setter] def modality(self, arg0: Modality)

    • [property] def modelToAppTransform(self) -> numpy.ndarray

    • [property] def motionCompensationState(self) -> MotionCompensationState

    • [motionCompensationState.setter] def motionCompensationState(self, arg0: MotionCompensationState)

    • [property] def numCols(self) -> int

    • [property] def numElements(self) -> int

    • [numElements.setter] def numElements(self, arg0: int)

    • [property] def numRows(self) -> int

    • [property] def numSamplesPerSgw(self) -> int

    • [property] def numSgws(self) -> int

    • [property] def objId(self) -> numpy.ndarray

    • [property] def objectId(self) -> numpy.ndarray

    • [property] def originX(self) -> numpy.ndarray

    • [property] def originY(self) -> numpy.ndarray

    • [property] def originZ(self) -> numpy.ndarray

    • [property] def outputType(self) -> OutputType

    • [outputType.setter] def outputType(self, arg0: OutputType)

    • [property] def patchVersion(self) -> int

    • [patchVersion.setter] def patchVersion(self, arg0: int)

    • [property] def rv_ms(self) -> numpy.ndarray

    • [property] def scalar(self) -> numpy.ndarray

    • [property] def scanComplete(self) -> int

    • [property] def scanIdx(self) -> int

    • [property] def sensorID(self) -> int

    • [property] def sizeInBytes(self) -> int

    • [sizeInBytes.setter] def sizeInBytes(self, arg0: int)

    • [property] def tickId(self) -> numpy.ndarray

    • [property] def tickStates(self) -> numpy.ndarray

    • [property] def timeOffSetNs(self) -> numpy.ndarray

    • [property] def timeOffsetNs(self) -> numpy.ndarray

    • [property] def timestampNs(self) -> int

    • [timestampNs.setter] def timestampNs(self, arg0: int)

    • [property] def velocities(self) -> numpy.ndarray

    • [property] def x(self) -> numpy.ndarray

    • [property] def y(self) -> numpy.ndarray

    • [property] def z(self) -> numpy.ndarray

  • class GenericModelOutputIOFactory

    • def init(self)

    • static def createInstance() -> IGenericModelOutputIO

  • class IDSAuxHas

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • NONE: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.IDSAuxHas

    • VELOCITIES: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.IDSAuxHas

  • class IGenericModelOutputIO

    • def init(self)

    • def addPacket(self, arg0: capsule, arg1: int)

    • def init(self, arg0: GMOIOConfig)

    • def readModelOutput(self, clientName: str = ‘’, frameId: int = -1) -> GenericModelOutput

    • def writeModelOutput(self, arg0: GenericModelOutput)

  • class LidarAuxHas

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • CHANNEL_ID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • ECHO_ID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • EMITTER_ID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • HIT_NORMALS: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • MAT_ID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • NONE: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • OBJ_ID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • TICK_ID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • TICK_STATES: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • VELOCITIES: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

  • class Modality

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • ACOUSTIC: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.Modality

    • IDS: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.Modality

    • LIDAR: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.Modality

    • RADAR: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.Modality

    • UNDEFINED: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.Modality

  • class MotionCompensationState

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • COMPENSATED: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.MotionCompensationState

    • NONCOMPENSATED: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.MotionCompensationState

    • NOT_APPLICABLE: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.MotionCompensationState

  • class OutputType

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • POINTCLOUD: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.OutputType

Functions#

  • def getMagicNumberGMO() -> int

  • def getModelOutputFromBuffer(*args, **kwargs) -> typing.Any

Public API for module isaacsim.sensors.rtx.generic_model_output:#

Classes#

  • class AccessType

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • READ: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AccessType

    • RECORD_BASIC: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AccessType

    • RECORD_FULL: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AccessType

  • class AuxType

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • BASIC: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AuxType

    • EXTRA: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AuxType

    • FULL: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AuxType

    • NONE: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.AuxType

  • class CoordsType

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • CARTESIAN: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.CoordsType

    • NOT_APPLICABLE: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.CoordsType

    • SPHERICAL: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.CoordsType

  • class ElementFlags

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • FLAG_1: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • FLAG_2: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • FLAG_3: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • FLAG_4: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • FLAG_5: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • FLAG_6: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • FLAG_7: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

    • VALID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.ElementFlags

  • class FrameAtTime

    • def init(self)

    • [property] def orientation(self) -> typing.List[float]

    • [orientation.setter] def orientation(self, arg1: typing.List[float])

    • [property] def posM(self) -> typing.List[float]

    • [posM.setter] def posM(self, arg1: typing.List[float])

    • [property] def timestampNs(self) -> int

    • [timestampNs.setter] def timestampNs(self, arg0: int)

  • class FrameOfReference

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • CUSTOM: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.FrameOfReference

    • PARENT: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.FrameOfReference

    • SENSOR: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.FrameOfReference

    • WORLD: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.FrameOfReference

  • class GMOIOConfig

    • def init(self)

    • [property] def accessType(self) -> AccessType

    • [accessType.setter] def accessType(self, arg0: AccessType)

    • [property] def clientName(self) -> str

    • [clientName.setter] def clientName(self, arg1: str)

    • [property] def fileName(self) -> str

    • [fileName.setter] def fileName(self, arg1: str)

    • [property] def groupName(self) -> str

    • [groupName.setter] def groupName(self, arg1: str)

    • [property] def loop(self) -> bool

    • [loop.setter] def loop(self, arg0: bool)

    • [property] def maxPoints(self) -> int

    • [maxPoints.setter] def maxPoints(self, arg0: int)

    • [property] def onlyValid(self) -> bool

    • [onlyValid.setter] def onlyValid(self, arg0: bool)

  • class GenericModelOutput

    • def init(self)

    • [property] def auxType(self) -> AuxType

    • [auxType.setter] def auxType(self, arg0: AuxType)

    • [property] def azimuthOffset(self) -> float

    • [property] def channelId(self) -> numpy.ndarray

    • [property] def cycleCnt(self) -> int

    • [property] def echoId(self) -> numpy.ndarray

    • [property] def elementsCoordsType(self) -> CoordsType

    • [elementsCoordsType.setter] def elementsCoordsType(self, arg0: CoordsType)

    • [property] def emitterId(self) -> numpy.ndarray

    • [property] def filledAuxMembers(self) -> LidarAuxHas

    • [property] def flags(self) -> numpy.ndarray

    • [property] def frameEnd(self) -> FrameAtTime

    • [frameEnd.setter] def frameEnd(self, arg0: FrameAtTime)

    • [property] def frameId(self) -> int

    • [frameId.setter] def frameId(self, arg0: int)

    • [property] def frameOfReference(self) -> FrameOfReference

    • [frameOfReference.setter] def frameOfReference(self, arg0: FrameOfReference)

    • [property] def frameStart(self) -> FrameAtTime

    • [frameStart.setter] def frameStart(self, arg0: FrameAtTime)

    • [property] def hitNormals(self) -> numpy.ndarray

    • [property] def idsFilledAuxMembers(self) -> IDSAuxHas

    • [property] def idsVelocities(self) -> numpy.ndarray

    • [property] def magicNumber(self) -> int

    • [magicNumber.setter] def magicNumber(self, arg0: int)

    • [property] def majorVersion(self) -> int

    • [majorVersion.setter] def majorVersion(self, arg0: int)

    • [property] def matId(self) -> numpy.ndarray

    • [property] def materialId(self) -> numpy.ndarray

    • [property] def maxAzRad(self) -> float

    • [property] def maxElRad(self) -> float

    • [property] def maxRangeM(self) -> float

    • [property] def maxVelMps(self) -> float

    • [property] def minAzRad(self) -> float

    • [property] def minElRad(self) -> float

    • [property] def minVelMps(self) -> float

    • [property] def minorVersion(self) -> int

    • [minorVersion.setter] def minorVersion(self, arg0: int)

    • [property] def modality(self) -> Modality

    • [modality.setter] def modality(self, arg0: Modality)

    • [property] def modelToAppTransform(self) -> numpy.ndarray

    • [property] def motionCompensationState(self) -> MotionCompensationState

    • [motionCompensationState.setter] def motionCompensationState(self, arg0: MotionCompensationState)

    • [property] def numCols(self) -> int

    • [property] def numElements(self) -> int

    • [numElements.setter] def numElements(self, arg0: int)

    • [property] def numRows(self) -> int

    • [property] def numSamplesPerSgw(self) -> int

    • [property] def numSgws(self) -> int

    • [property] def objId(self) -> numpy.ndarray

    • [property] def objectId(self) -> numpy.ndarray

    • [property] def originX(self) -> numpy.ndarray

    • [property] def originY(self) -> numpy.ndarray

    • [property] def originZ(self) -> numpy.ndarray

    • [property] def outputType(self) -> OutputType

    • [outputType.setter] def outputType(self, arg0: OutputType)

    • [property] def patchVersion(self) -> int

    • [patchVersion.setter] def patchVersion(self, arg0: int)

    • [property] def rv_ms(self) -> numpy.ndarray

    • [property] def scalar(self) -> numpy.ndarray

    • [property] def scanComplete(self) -> int

    • [property] def scanIdx(self) -> int

    • [property] def sensorID(self) -> int

    • [property] def sizeInBytes(self) -> int

    • [sizeInBytes.setter] def sizeInBytes(self, arg0: int)

    • [property] def tickId(self) -> numpy.ndarray

    • [property] def tickStates(self) -> numpy.ndarray

    • [property] def timeOffSetNs(self) -> numpy.ndarray

    • [property] def timeOffsetNs(self) -> numpy.ndarray

    • [property] def timestampNs(self) -> int

    • [timestampNs.setter] def timestampNs(self, arg0: int)

    • [property] def velocities(self) -> numpy.ndarray

    • [property] def x(self) -> numpy.ndarray

    • [property] def y(self) -> numpy.ndarray

    • [property] def z(self) -> numpy.ndarray

  • class GenericModelOutputIOFactory

    • def init(self)

    • static def createInstance() -> IGenericModelOutputIO

  • class IDSAuxHas

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • NONE: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.IDSAuxHas

    • VELOCITIES: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.IDSAuxHas

  • class IGenericModelOutputIO

    • def init(self)

    • def addPacket(self, arg0: capsule, arg1: int)

    • def init(self, arg0: GMOIOConfig)

    • def readModelOutput(self, clientName: str = ‘’, frameId: int = -1) -> GenericModelOutput

    • def writeModelOutput(self, arg0: GenericModelOutput)

  • class LidarAuxHas

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • CHANNEL_ID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • ECHO_ID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • EMITTER_ID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • HIT_NORMALS: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • MAT_ID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • NONE: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • OBJ_ID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • TICK_ID: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • TICK_STATES: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

    • VELOCITIES: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.LidarAuxHas

  • class Modality

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • ACOUSTIC: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.Modality

    • IDS: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.Modality

    • LIDAR: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.Modality

    • RADAR: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.Modality

    • UNDEFINED: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.Modality

  • class MotionCompensationState

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • COMPENSATED: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.MotionCompensationState

    • NONCOMPENSATED: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.MotionCompensationState

    • NOT_APPLICABLE: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.MotionCompensationState

  • class OutputType

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • POINTCLOUD: isaacsim.sensors.experimental.rtx.generic_model_output._rtx_sensors_gmo.OutputType

Functions#

  • def getMagicNumberGMO() -> int

  • def getModelOutputFromBuffer(*args, **kwargs) -> typing.Any

Public API for module isaacsim.sensors.rtx.sensor_checker:#

Classes#

  • class AOVInfo

    • def init(self)

    • def fillOpaqueBufferMetadata(self, arg0: int)

    • def fillStructureMetadata(self, arg0: str, arg1: int)

    • def fillTensorMetadata(self, arg0: int, arg1: typing.List[str], arg2: typing.List[int], arg3: TensorMetadataDataType)

    • [property] def aovBuffer(self) -> capsule

    • [aovBuffer.setter] def aovBuffer(self, arg1: buffer)

    • [property] def aovMetadata(self) -> capsule

    • [aovMetadata.setter] def aovMetadata(self, arg1: buffer)

    • [property] def aovName(self) -> str

    • [aovName.setter] def aovName(self, arg1: str)

  • class ModelInfo

    • def init(self)

    • [property] def marketName(self) -> str

    • [marketName.setter] def marketName(self, arg1: str)

    • [property] def modelName(self) -> str

    • [modelName.setter] def modelName(self, arg1: str)

    • [property] def modelVendor(self) -> str

    • [modelVendor.setter] def modelVendor(self, arg1: str)

    • [property] def modelVersion(self) -> str

    • [modelVersion.setter] def modelVersion(self, arg1: str)

    • [property] def schemaVersion(self) -> str

    • [schemaVersion.setter] def schemaVersion(self, arg1: str)

  • class Parameters

    • def init(self)

    • [property] def dataTypes(self) -> typing.List[SensorCheckerParamType]

    • [property] def numParams(self) -> int

    • [property] def paramNames(self) -> typing.List[str]

    • [property] def paramValues(self) -> typing.List[object]

    • [property] def paramVectorLengths(self) -> typing.List[int]

  • class SensorCheckerParamType

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • BOOL: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • DOUBLE: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • DOUBLE2: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • DOUBLE3: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • DOUBLE4: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • DOUBLE4x4: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • FLOAT: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • FLOAT2: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • FLOAT3: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • FLOAT4: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • FLOAT4x4: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • INT: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • INT2: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • INT3: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • INT4: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

    • STRING: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.SensorCheckerParamType

  • class SensorCheckerUtil

    • def init(self)

    • def getValidatedParams(self) -> Parameters

    • def init(self, modelInfo: ModelInfo, checkerImplPath: str = None) -> str

    • def validateAOV(self, arg0: AOVInfo) -> str

    • def validateParams(self, arg0: Parameters) -> str

    • def validateParams(self, arg0: str, arg1: str) -> str

    • def validateParams(self, arg0: object) -> str

  • class TensorMetadataDataType

    • def init(self, value: int)

    • [property] def name(self) -> str

    • [property] def value(self) -> int

    • FLOAT16: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.TensorMetadataDataType

    • FLOAT32: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.TensorMetadataDataType

    • FLOAT64: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.TensorMetadataDataType

    • INT16: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.TensorMetadataDataType

    • INT32: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.TensorMetadataDataType

    • INT64: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.TensorMetadataDataType

    • INT8: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.TensorMetadataDataType

    • UINT16: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.TensorMetadataDataType

    • UINT32: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.TensorMetadataDataType

    • UINT64: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.TensorMetadataDataType

    • UINT8: isaacsim.sensors.experimental.rtx.sensor_checker._rtx_sensors_checker.TensorMetadataDataType