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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

Other#

  • annotations: unknown

  • Callable: unknown

  • Path: unknown

  • Any: unknown

  • carb: unknown module

  • omni.isaac.IsaacSensorSchema: public module

  • omni.kit.commands: unknown module

  • omni.kit.utils: unknown module

  • omni.replicator.core: unknown module

  • omni.usd: unknown module

  • Gf: unknown

  • Sdf: unknown

  • Usd: unknown module

  • UsdGeom: unknown

  • ctypes: builtin module

  • gc: builtin module

  • carb.settings: unknown module

  • numpy: unknown module

  • omni.ext: unknown module

  • omni.graph.core: unknown module

  • AnnotatorRegistry: unknown

  • sensors: unknown

  • UsdShade: unknown

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

No public API

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

No public API

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

No public API