Commands#
Public command API for module isaacsim.sensors.physx:
IsaacSensorCreateLightBeamSensor#
Command class to create a light beam sensor.
Arguments#
path: Path for the new prim.
parent: Parent prim path.
translation: Translation vector for the prim.
orientation: Orientation quaternion for the prim.
num_rays: Number of rays for the light beam sensor.
curtain_length: Length of the curtain for multi-ray sensors.
forward_axis: Forward direction axis.
curtain_axis: Curtain direction axis.
min_range: Minimum range of the sensor.
max_range: Maximum range of the sensor.
draw_points: Whether to draw points for visualization.
draw_lines: Whether to draw lines for visualization.
Usage#
import omni.kit.commands
from pxr import Gf
# Create a light beam sensor with multiple rays.
# Note: curtain_length must be greater than 0 when num_rays > 1.
success, light_beam_sensor = omni.kit.commands.execute(
"IsaacSensorCreateLightBeamSensor",
path="/World/LightBeam_Sensor",
parent=None,
translation=Gf.Vec3d(0.0, 0.0, 1.0),
orientation=Gf.Quatd(1.0, 0.0, 0.0, 0.0),
num_rays=5,
curtain_length=2.0,
forward_axis=Gf.Vec3d(1.0, 0.0, 0.0),
curtain_axis=Gf.Vec3d(0.0, 0.0, 1.0),
min_range=0.1,
max_range=10.0,
draw_points=True,
draw_lines=True,
)
RangeSensorCreateGeneric#
Command class to create a generic range sensor.
Typical usage example:
.. code-block:: python
result, prim = omni.kit.commands.execute( “RangeSensorCreateGeneric”, path=”/GenericSensor”, parent=None, translation=Gf.Vec3d(0, 0, 0), orientation=Gf.Quatd(1, 0, 0, 0), min_range=0.4, max_range=100.0, draw_points=False, draw_lines=False, sampling_rate=60, )
Arguments#
path: Path for the new prim.
parent: Parent prim path.
translation: Translation vector for the prim.
orientation: Orientation quaternion for the prim.
min_range: Minimum range of the sensor.
max_range: Maximum range of the sensor.
draw_points: Whether to draw points for visualization.
draw_lines: Whether to draw lines for visualization.
sampling_rate: Sampling rate of the sensor in Hz.
Usage#
import omni.kit.commands
from pxr import Gf
# Create a generic range sensor prim at /World/GenericSensor.
# The command returns (success, schema_object).
success, generic_sensor = omni.kit.commands.execute(
"RangeSensorCreateGeneric",
path="/World/GenericSensor",
parent=None,
translation=Gf.Vec3d(0.0, 0.0, 1.0),
orientation=Gf.Quatd(1.0, 0.0, 0.0, 0.0),
min_range=0.4,
max_range=50.0,
draw_points=True,
draw_lines=False,
sampling_rate=60,
)
RangeSensorCreateLidar#
Command class to create a lidar sensor.
Typical usage example:
.. code-block:: python
result, prim = omni.kit.commands.execute( “RangeSensorCreateLidar”, path=”/Lidar”, parent=None, translation=Gf.Vec3d(0, 0, 0), orientation=Gf.Quatd(1, 0, 0, 0), min_range=0.4, max_range=100.0, draw_points=False, draw_lines=False, horizontal_fov=360.0, vertical_fov=30.0, horizontal_resolution=0.4, vertical_resolution=4.0, rotation_rate=20.0, high_lod=False, yaw_offset=0.0, enable_semantics=False, )
Arguments#
path: Path for the new lidar sensor prim.
parent: Parent prim path.
translation: Translation vector for the lidar sensor.
orientation: Orientation quaternion for the lidar sensor.
min_range: Minimum range of the sensor.
max_range: Maximum range of the sensor.
draw_points: Whether to draw points for visualization.
draw_lines: Whether to draw lines for visualization.
horizontal_fov: Horizontal field of view in degrees.
vertical_fov: Vertical field of view in degrees.
horizontal_resolution: Horizontal resolution in degrees per sample.
vertical_resolution: Vertical resolution in degrees per sample.
rotation_rate: Rotation rate of the sensor in Hz.
high_lod: Whether to enable high level of detail rendering.
yaw_offset: Yaw offset in degrees.
enable_semantics: Whether to enable semantic segmentation.
Usage#
import omni.kit.commands
from pxr import Gf
# Create a LiDAR range sensor prim.
success, lidar_schema = omni.kit.commands.execute(
"RangeSensorCreateLidar",
path="/World/Lidar",
parent=None,
translation=Gf.Vec3d(0.0, 0.0, 1.0),
orientation=Gf.Quatd(1.0, 0.0, 0.0, 0.0),
min_range=0.4,
max_range=100.0,
draw_points=True,
draw_lines=False,
horizontal_fov=360.0,
vertical_fov=30.0,
horizontal_resolution=0.4,
vertical_resolution=4.0,
rotation_rate=20.0,
high_lod=False,
yaw_offset=0.0,
enable_semantics=False,
)
if success and lidar_schema:
lidar_prim = lidar_schema.GetPrim()
print(f"Created LiDAR sensor at: {lidar_prim.GetPath()}")
RangeSensorCreatePrim#
Base command for creating range sensor prims.
This command is used to create each range sensor prim and handles undo operations so that individual prim commands don’t have to implement their own undo logic.
Arguments#
path: Path for the new prim.
parent: Parent prim path.
schema_type: Schema type to use for the prim.
translation: Translation vector for the prim.
orientation: Orientation quaternion for the prim.
visibility: Whether the prim is visible.
min_range: Minimum range of the sensor.
max_range: Maximum range of the sensor.
draw_points: Whether to draw points for visualization.
draw_lines: Whether to draw lines for visualization.
Usage#
import omni.kit.commands
import omni.isaac.RangeSensorSchema as RangeSensorSchema
from pxr import Gf
# Create a base range sensor prim using the Lidar schema.
success, sensor_schema = omni.kit.commands.execute(
"RangeSensorCreatePrim",
path="/World/MyRangeSensor",
parent="",
schema_type=RangeSensorSchema.Lidar,
translation=Gf.Vec3d(0.0, 0.0, 1.0),
orientation=Gf.Quatd(1.0, 0.0, 0.0, 0.0),
visibility=False,
min_range=0.4,
max_range=100.0,
draw_points=True,
draw_lines=False,
)
if success and sensor_schema:
prim = sensor_schema.GetPrim()
print(f"Created range sensor prim at: {prim.GetPath()}")