RTX Lidar Sensors

Browse rotary and solid-state RTX Lidar models, profiles, and USD variants by manufacturer.

Find these digital twins in the Content Browser under Isaac Sim/Sensors, organized into manufacturer subfolders.

RTX Lidars marked as “certified” have Lidar configurations verified by the sensor manufacturer and tested before release.

Some Lidar models feature multiple configurations or profiles, which are implemented as USD Variants. In those cases, the available variants and their characteristics will also be provided as tables in the appropriate section below.

4assets

NVIDIA

4 assets

Example rotary and solid-state lidar configurations.

NVIDIA, 4 assets, Example rotary and solid-state lidar configurations.

1asset

HESAI

1 asset

XT32 SD10 spinning lidar digital twin.

HESAI, 1 asset, XT32 SD10 spinning lidar digital twin.

4assets

Ouster

4 assets

OS0, OS1, OS2, and VLS-128 models with configurable profiles.

Ouster, 4 assets, OS0, OS1, OS2, and VLS-128 models with configurable profiles.

8assets

SICK

8 assets

Industrial, safety, and multi-layer lidar models and variants.

SICK, 8 assets, Industrial, safety, and multi-layer lidar models and variants.

1asset

SLAMTEC

1 asset

RPLIDAR S2E compact rotary lidar digital twin.

SLAMTEC, 1 asset, RPLIDAR S2E compact rotary lidar digital twin.

2assets

ZVISION

2 assets

ML-30S and ML-XS solid-state lidar models.

ZVISION, 2 assets, ML-30S and ML-XS solid-state lidar models.

NVIDIA

NVIDIA

These example lidar configurations ship with Isaac Sim and do not include a mesh. Only a prim appears in the Stage window when one is created.

Example Rotary 2D

A 10 Hz rotary lidar configuration with emitters in a single plane.

Asset details

Create menu:

Create > Sensors > RTX Lidar > NVIDIA > Example Rotary 2D

Example Rotary

A 10 Hz rotary lidar configuration with emitters in a single plane.

Asset details

Create menu:

Create > Sensors > RTX Lidar > NVIDIA > Example Rotary

Example Solid State

A solid-state lidar configuration.

Asset details

Create menu:

Create > Sensors > RTX Lidar > NVIDIA > Example Solid State

Simple Example Solid State

A compact 12-emitter configuration for debugging solid-state lidar behavior.

Asset details

Create menu:

Create > Sensors > RTX Lidar > NVIDIA > Simple Example Solid State

HESAI

HESAI

XT32 SD10

Asset details

USD Path:

HESAI/XT32_SD10/HESAI_XT32_SD10.usd

HESAI XT32 SD10 is a high precision, 32 Channels 360 degrees spinning mid range Lidar.

Features and Specification

XT32 SD10 Features

name	XT-32 10hz
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20000
numberOfEmitters	32
nearRangeM	0.05
farRangeM	120.0
rangeResolutionM	0.004
rangeAccuracyM	0.02
minDistBetweenEchos	0.05
minReflectance	0.1
minReflectanceRange	80.0
wavelengthNm	905.0
pulseTimeNs	10
azimuthErrorMean	0.0
azimuthErrorStd	0.015
elevationErrorMean	0.0
elevationErrorStd	0.0
maxReturns	2

Other Features

• Dimensions: 100 mm (Top Diameter) by 103 mm (Bottom Diameter) by 76.0 mm (Height)

Note

For the datasheet and full list of specifications, visit the XT32 SD10 product page.

Ouster

Ouster

OS0

Asset details

USD Path:

Ouster/OS0/OS0.usd

Ouster OS0 is a high precision Lidar for autonomous vehicles, heavy machinery, robot, and mapping solutions. Isaac Sim has several pre-configured frequencies and resolutions that can be added to the stage easily.

Features and Specification

OS0 Rev6 Features

10 Hz

512 Resolution

Variant: OS0_REV6_128ch10hz512res

name	OS0 REV6 128 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	128
nearRangeM	0.3
farRangeM	50.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	20.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS0_REV6_128ch10hz1024res

name	OS0 REV6 128 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.3
farRangeM	50.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	20.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS0_REV6_128ch10hz2048res

name	OS0 REV6 128 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.3
farRangeM	50.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	20.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

20 Hz

512 Resolution

Variant: OS0_REV6_128ch20hz512res

name	OS0 REV6 128 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.3
farRangeM	50.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	20.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS0_REV6_128ch20hz1024res

name	OS0 REV6 128 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.3
farRangeM	50.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	20.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

OS0 Rev7 Features

10 Hz

512 Resolution

Variant: OS0_REV7_128ch10hz512res

name	OS0 REV7 128 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	128
nearRangeM	0.5
farRangeM	75.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	35.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS0_REV7_128ch10hz1024res

name	OS0 REV7 128 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.5
farRangeM	75.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	35.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS0_REV7_128ch10hz2048res

name	OS0 REV7 128 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.5
farRangeM	75.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	35.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

20 Hz

512 Resolution

Variant: OS0_REV7_128ch20hz512res

name	OS0 REV7 128 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.5
farRangeM	75.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	35.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS0_REV7_128ch20hz1024res

name	OS0 REV7 128 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.5
farRangeM	75.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	35.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

Other Features

• Rotation Rate: 10 or 20 hz (configurable)

• Dimensions: 87 mm (Diameter) by 58.35 mm (Height). With thermal cap, height is 74.2 mm.

• IMU supported: InvenSense IAM-20680HT

Note

For the datasheet and full list of specifications, visit the OS0 product page.

OS1

Asset details

USD Path:

Ouster/OS1/OS1.usd

Ouster OS1 is a high precision Lidar for autonomous vehicles, heavy machinery, robot, and mapping solutions. Isaac Sim has several pre-configured frequencies and resolutions that can be easily added to the stage.

Features and Specification

OS1 Rev6 Features

32 Channels 10 Hz

512 Resolution

Variant: OS1_REV6_32ch10hz512res

name	OS1 REV6 32 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	32
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS1_REV6_32ch10hz1024res

name	OS1 REV6 32 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	32
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS1_REV6_32ch10hz2048res

name	OS1 REV6 32 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	32
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

32 Channels 20 Hz

512 Resolution

Variant: OS1_REV6_32ch20hz512res

name	OS1 REV6 32 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	32
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS1_REV6_32ch20hz1024res

name	OS1 REV6 32 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	32
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

128 Channels 10 Hz

512 Resolution

Variant: OS1_REV6_128ch10hz512res

name	OS1 REV6 128 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	128
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS1_REV6_128ch10hz1024res

name	OS1 REV6 128 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS1_REV6_128ch10hz2048res

name	OS1 REV6 128 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

128 Channels 20 Hz

512 Resolution

Variant: OS1_REV6_128ch20hz512res

name	OS1 REV6 128 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS1_REV6_128ch20hz1024res

name	OS1 REV6 128 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.3
farRangeM	120.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	55.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

OS1 Rev7 Features

10 Hz

512 Resolution

Variant: OS1_REV7_128ch10hz512res

name	OS1 REV7 128 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	128
nearRangeM	0.5
farRangeM	170.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	90.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS1_REV7_128ch10hz1024res

name	OS1 REV7 128 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.5
farRangeM	170.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	90.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS1_REV7_128ch10hz2048res

name	OS1 REV7 128 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.5
farRangeM	170.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	90.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

20 Hz

512 Resolution

Variant: OS1_REV7_128ch20hz512res

name	OS1 REV7 128 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.5
farRangeM	170.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	90.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS1_REV7_128ch20hz1024res

name	OS1 REV7 128 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.5
farRangeM	170.0
rangeResolutionM	0.001
rangeAccuracyM	0.025
minReflectance	0.1
minReflectanceRange	90.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

Other Features

• Dimensions: 87 mm (Diameter) by 58.35 mm (Height). With thermal cap, height is 74.2 mm.

• IMU supported: InvenSense IAM-20680HT

Note

For the datasheet and full list of specifications, visit the OS1 product page.

OS2

Asset details

USD Path:

Ouster/OS2/OS2.usd

Ouster OS2 is a high precision Lidar for autonomous vehicles, heavy machinery, robot, and mapping solutions. Isaac Sim has several pre-configured frequencies and resolutions that can be easily added to the stage.

Features and Specification

OS2 Rev6 Features

10 Hz

512 Resolution

Variant: OS2_REV6_128ch10hz512res

name	OS2 REV6 128 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	128
nearRangeM	1.0
farRangeM	240.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	100.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS2_REV6_128ch10hz1024res

name	OS2 REV6 128 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	1.0
farRangeM	240.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	100.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS2_REV6_128ch10hz2048res

name	OS2 REV6 128 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	1.0
farRangeM	240.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	100.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

20 Hz

512 Resolution

Variant: OS2_REV6_128ch20hz512res

name	OS2 REV6 128 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	1.0
farRangeM	240.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	100.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS2_REV6_128ch20hz1024res

name	OS2 REV6 128 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	1.0
farRangeM	240.0
rangeResolutionM	0.001
rangeAccuracyM	0.03
minReflectance	0.1
minReflectanceRange	100.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

OS2 Rev7 Features

10 Hz

512 Resolution

Variant: OS2_REV7_128ch10hz512res

name	OS2 REV7 128 10hz @ 512 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	5120
numberOfEmitters	128
nearRangeM	0.8
farRangeM	350.0
rangeResolutionM	0.001
rangeAccuracyM	0.02
minReflectance	0.1
minReflectanceRange	200.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS2_REV7_128ch10hz1024res

name	OS2 REV7 128 10hz @ 1024 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.8
farRangeM	350.0
rangeResolutionM	0.001
rangeAccuracyM	0.02
minReflectance	0.1
minReflectanceRange	200.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

2048 Resolution

Variant: OS2_REV7_128ch10hz2048res

name	OS2 REV7 128 10hz @ 2048 resolution
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.8
farRangeM	350.0
rangeResolutionM	0.001
rangeAccuracyM	0.02
minReflectance	0.1
minReflectanceRange	200.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

20 Hz

512 Resolution

Variant: OS2_REV7_128ch20hz512res

name	OS2 REV7 128 20hz @ 512 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	10240
numberOfEmitters	128
nearRangeM	0.8
farRangeM	350.0
rangeResolutionM	0.001
rangeAccuracyM	0.02
minReflectance	0.1
minReflectanceRange	200.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

1024 Resolution

Variant: OS2_REV7_128ch20hz1024res

name	OS2 REV7 128 20hz @ 1024 resolution
type	lidar
scanRateBaseHz	20.0
reportRateBaseHz	20480
numberOfEmitters	128
nearRangeM	0.8
farRangeM	350.0
rangeResolutionM	0.001
rangeAccuracyM	0.02
minReflectance	0.1
minReflectanceRange	200.0
wavelengthNm	865.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.01
elevationErrorMean	0.0
elevationErrorStd	0.01
maxReturns	2

Other Features

• Dimensions: 87 mm (Diameter) by 58.35 mm (Height). With thermal cap, height is 74.2 mm.

• IMU supported: InvenSense IAM-20680HT

Note

For the datasheet and full list of specifications, visit the OS2 product page.

VLS 128

Asset details

USD Path:

Ouster/VLS_128/Ouster_VLS_128.usd

Ouster VLS 128 is a long range, ultra high resolution 3D Lidar for autonomous vehicles.

Features and Specification

VLS 128 Features

name	Velodyne VLS-128
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	18761
numberOfEmitters	128
nearRangeM	1.0
farRangeM	200.0
rangeResolutionM	0.004
rangeAccuracyM	0.02
minReflectance	0.1
minReflectanceRange	120.0
wavelengthNm	903.0
pulseTimeNs	6
maxReturns	2

Other Features

• Dimensions: 165.5 mm (Diameter) by 141.3 mm (Height)

• Operating Temperature: -20C to 60C

Note

VLS 128 product page.

SICK

SICK

Note

SICK lidar asset reorganization (Isaac Sim 6.0)

Several SICK lidar assets have been consolidated into family-level USDs that group related sub-models as variants of a single parent asset. The standalone single-sensor USDs below have been removed from SUPPORTED_LIDAR_CONFIGS; their scan profiles remain available through the corresponding family asset’s variant set.

Removed standalone asset	Replaced by family asset	Variants providing the equivalent profiles
SICK/LRS4581R/SICK_LRS4581R.usd	SICK/LRS4000/SICK_LRS4000.usd	Select a Profile from the LRS4000 table below.
SICK/MRS1104C/SICK_MRS1104C.usd	SICK/MRS1000/SICK_MRS1000.usd	Profile01_12p5Hz_0p25deg, Profile02_6p25Hz_0p125deg, Profile03_3p125Hz_0p0625deg
SICK/multiScan136/SICK_multiScan136.usd	SICK/multiScan100/SICK_multiScan100.usd	Product=multiScan136, Profile=Profile01_20Hz_0p125deg
SICK/multiScan165/SICK_multiScan165.usd	SICK/multiScan100/SICK_multiScan100.usd	Product=multiScan165 or multiScan165S, Profile=Profile01_20Hz_0p5deg
SICK/picoScan150/SICK_picoScan150.usd	SICK/picoScan100/SICK_picoScan100.usd	Product=picoScan150Core, picoScan150Prime, or picoScan150Pro; select a supported Profile below.

The retired standalone config names, such as SICK_LRS4581R, no longer resolve through Lidar.create. Use the replacement family config and the exact variant selections in its table below. Availability of historical standalone files depends on the asset release.

For assets with both Product and Profile variant sets, select Product first. Pass the selections as a dictionary in that order; only the listed product/profile combinations are supported. For example:

from isaacsim.sensors.experimental.rtx import Lidar

lidar = Lidar.create(
    path="/World/lidar",
    config="SICK_picoScan100",
    variant={
        "Product": "picoScan150Pro",
        "Profile": "Profile01_15Hz_0p5deg",
    },
)

Assets with only a Profile set also use a dictionary, for example variant={"Profile": "Profile01_12p5Hz_0p25deg"} for SICK_MRS1000.

LMS4000

Asset details

USD Path:

SICK/LMS4000/SICK_LMS4000.usd

LMS4000 (Certified)

The SICK LMS4000 is a 2D LiDAR sensor particularly well-suited for use in intralogistics, material handling and in all areas in which goods must be quickly and systematically analyzed and moved.

Features and Specification

Select the Product variant on the default prim first, using the product name above each table. Then select the exact Profile value from that product’s table. Only the listed combinations are supported.

LMS4111R

Profile	Maximum working range	Angular resolution	Laser diode	Scan frequency
Profile01_3p0m_0p0833deg	3.0 m	0.0833°	10.0 mW	600 Hz

LMS4121R

Profile	Maximum working range	Angular resolution	Laser diode	Scan frequency
Profile01_3p0m_0p0833deg	3.0 m	0.0833°	13.5mW	600 Hz

LMS4124R

Profile	Maximum working range	Angular resolution	Laser diode	Scan frequency
Profile01_5p5m_0p0833deg	5.5 m	0.0833°	13.5mW	600 Hz

Note

For the datasheet and full list of specifications, visit the LMS4000 product page.

For guidance on how to use this sensor optimally in Isaac Sim, use the contact function on the SICK digital twin landing page.

LMS5xx

Asset details

USD Path:

SICK/LMS5xx/SICK_LMS5xx.usd

LMS5xx (Certified)

The SICK LMS5xx is a 2D LiDAR sensor for solving demanding industrial applications such as collision avoidance or measurement and monitoring in indoor and outdoor areas.

Features and Specification

Select the Product variant on the default prim first, using the product name above each table. Then select the exact Profile value from that product’s table. Only the listed combinations are supported.

LMS5xxExtendedRange

Profile	Scan frequency	Angular resolution
Profile00_25Hz_0p1667deg	25 Hz	0.1667°
Profile01_25Hz_0p25deg	25 Hz	0.25°
Profile02_35Hz_0p25deg	35 Hz	0.25°
Profile03_35Hz_0p5deg	35 Hz	0.5°
Profile04_50Hz_0p3333deg	50 Hz	0.3333°
Profile05_50Hz_0p5deg	50 Hz	0.5°
Profile06_75Hz_0p5deg	75 Hz	0.5°
Profile07_75Hz_1p0deg	75 Hz	1.0°
Profile08_100Hz_0p667deg	100 Hz	0.667°
Profile09_100Hz_1p0deg	100 Hz	1.0°
Profile10_50Hz_0p1667deg	50 Hz	0.1667°
Profile11_75Hz_0p25deg	75 Hz	0.25°
Profile12_100Hz_0p1667deg	100 Hz	0.1667°
Profile13_100Hz_0p3333deg	100 Hz	0.3333°
Profile14_100Hz_0p5deg	100 Hz	0.5°
Profile15_25Hz_0p083deg	25 Hz	0.083°
Profile16_25Hz_0p042deg	25 Hz	0.042°

LMS5xxLiteHR

Profile	Scan frequency	Angular resolution
Profile01_25Hz_0p25deg	25 Hz	0.25°
Profile03_35Hz_0p5deg	35 Hz	0.5°
Profile05_50Hz_0p5deg	50 Hz	0.5°
Profile06_75Hz_0p5deg	75 Hz	0.5°
Profile07_75Hz_1p0deg	75 Hz	1.0°

LMS5xxLiteSR

Profile	Scan frequency	Angular resolution
Profile01_25Hz_0p25deg	25 Hz	0.25°
Profile03_35Hz_0p5deg	35 Hz	0.5°
Profile05_50Hz_0p5deg	50 Hz	0.5°
Profile06_75Hz_0p5deg	75 Hz	0.5°
Profile07_75Hz_1p0deg	75 Hz	1.0°

LMS5xxProHR

Profile	Scan frequency	Angular resolution
Profile00_25Hz_0p1667deg	25 Hz	0.1667°
Profile01_25Hz_0p25deg	25 Hz	0.25°
Profile02_35Hz_0p25deg	35 Hz	0.25°
Profile03_35Hz_0p5deg	35 Hz	0.5°
Profile04_50Hz_0p3333deg	50 Hz	0.3333°
Profile05_50Hz_0p5deg	50 Hz	0.5°
Profile06_75Hz_0p5deg	75 Hz	0.5°
Profile07_75Hz_1p0deg	75 Hz	1.0°
Profile08_100Hz_0p667deg	100 Hz	0.667°
Profile09_100Hz_1p0deg	100 Hz	1.0°
Profile10_50Hz_0p1667deg	50 Hz	0.1667°
Profile11_75Hz_0p25deg	75 Hz	0.25°
Profile12_100Hz_0p1667deg	100 Hz	0.1667°
Profile13_100Hz_0p3333deg	100 Hz	0.3333°
Profile14_100Hz_0p5deg	100 Hz	0.5°
Profile15_25Hz_0p083deg	25 Hz	0.083°
Profile16_25Hz_0p042deg	25 Hz	0.042°

LMS5xxProSR

Profile	Scan frequency	Angular resolution
Profile00_25Hz_0p1667deg	25 Hz	0.1667°
Profile01_25Hz_0p25deg	25 Hz	0.25°
Profile02_35Hz_0p25deg	35 Hz	0.25°
Profile03_35Hz_0p5deg	35 Hz	0.5°
Profile04_50Hz_0p3333deg	50 Hz	0.3333°
Profile05_50Hz_0p5deg	50 Hz	0.5°
Profile06_75Hz_0p5deg	75 Hz	0.5°
Profile07_75Hz_1p0deg	75 Hz	1.0°
Profile08_100Hz_0p667deg	100 Hz	0.667°
Profile09_100Hz_1p0deg	100 Hz	1.0°
Profile10_50Hz_0p1667deg	50 Hz	0.1667°
Profile11_75Hz_0p25deg	75 Hz	0.25°
Profile12_100Hz_0p1667deg	100 Hz	0.1667°
Profile13_100Hz_0p3333deg	100 Hz	0.3333°
Profile14_100Hz_0p5deg	100 Hz	0.5°
Profile15_25Hz_0p083deg	25 Hz	0.083°
Profile16_25Hz_0p042deg	25 Hz	0.042°

Note

For the datasheet and full list of specifications, visit the LMS5xx product page.

For guidance on how to use this sensor optimally in Isaac Sim, use the contact function on the SICK digital twin landing page.

LRS4000

Asset details

USD Path:

SICK/LRS4000/SICK_LRS4000.usd

LRS4000 (Certified)

The SICK LRS4000 is a 2D LiDAR sensor for large scanning ranges in outdoor applications or for localization tasks.

Features and Specification

Select the Profile variant on the default prim using an exact value from the table below.

Profile	Scan frequency	Angular resolution
Profile01_12p5Hz_0p04deg	12.5 Hz	0.04°
Profile02_12p5Hz_0p06deg	12.5 Hz	0.06°
Profile04_12p5Hz_0p1deg	12.5 Hz	0.1°
Profile05_12p5Hz_0p12deg	12.5 Hz	0.12°
Profile11_12p5Hz_0p02deg	12.5 Hz	0.02°
Profile31_12p5Hz_0p24deg	12.5 Hz	0.24°
Profile32_12p5Hz_0p12deg	12.5 Hz	0.12°
Profile33_12p5Hz_0p08deg	12.5 Hz	0.08°
Profile35_12p5Hz_0p04deg	12.5 Hz	0.04°
Profile61_25Hz_0p08deg	25 Hz	0.08°
Profile62_25Hz_0p12deg	25 Hz	0.12°
Profile64_25Hz_0p2deg	25 Hz	0.2°
Profile65_25Hz_0p24deg	25 Hz	0.24°
Profile71_25Hz_0p04deg	25 Hz	0.04°
Profile91_25Hz_0p48deg	25 Hz	0.48°
Profile92_25Hz_0p24deg	25 Hz	0.24°
Profile93_25Hz_0p16deg	25 Hz	0.16°
Profile95_25Hz_0p08deg	25 Hz	0.08°

Note

For the datasheet and full list of specifications, visit the LRS4000 product page.

For guidance on how to use this sensor optimally in Isaac Sim, use the contact function on the SICK digital twin landing page.

microScan3

Asset details

USD Path:

SICK/microScan3/SICK_microScan3.usd

microScan3 (Certified)

The SICK microScan3 safety laser scanner stands for the protection of very different applications: from stationary to mobile, from simple to complex and delivers high-precision measurement data.

Features and Specification

Select the Profile variant on the default prim using an exact value from the table below.

Profile	Protective field range	Scan frequency
Profile01_4p0m_33p3Hz	4.0 m	33.3 Hz
Profile02_4p0m_25p0Hz	4.0 m	25.0 Hz
Profile03_5p5m_33p3Hz	5.5 m	33.3 Hz
Profile04_5p5m_25p0Hz	5.5 m	25.0 Hz
Profile05_9p0m_25p0Hz	9.0 m	25.0 Hz
Profile06_9p0m_20p0Hz	9.0 m	20.0 Hz

Note

For the datasheet and full list of specifications, visit the microScan3 product page.

For guidance on how to use this sensor optimally in Isaac Sim or for information about a higher-fidelity sensor model (including definition and evaluation of safety fields), use the contact function on the SICK digital twin landing page.

MRS1000

Asset details

USD Path:

SICK/MRS1000/SICK_MRS1000.usd

MRS1000 (Certified)

The SICK MRS1000 is a 3D LiDAR sensor for collision protection and assistance for all traveling objects in production facilities or reliable monitoring in traffic management and  building security.

Features and Specification

Select the Profile variant on the default prim using an exact value from the table below.

Profile	Scan frequency	Angular resolution
Profile01_12p5Hz_0p25deg	12.5 Hz	0.25°
Profile02_6p25Hz_0p125deg	6.25 Hz	0.125°
Profile03_3p125Hz_0p0625deg	3.125 Hz	0.0625°

Note For the datasheet and full list of specifications, visit the MRS1000 product page.

For guidance on how to use this sensor optimally in Isaac Sim, use the contact function on the SICK digital twin landing page.

multiScan100

Asset details

USD Path:

SICK/multiScan100/SICK_multiScan100.usd

multiScan100 (Certified)

The SICK multiScan100 is a 3D LiDAR sensor for mobile and stationary applications and reliably detects drop-off edges and obstacles ahead.

Features and Specification

Select the Product variant on the default prim first, using the product name above each table. Then select the exact Profile value from that product’s table. Only the listed combinations are supported.

multiScan136

Profile	Scan frequency	Angular resolution
Profile01_20Hz_0p125deg	20 Hz	0.125°

multiScan165

Profile	Scan frequency	Angular resolution
Profile01_20Hz_0p5deg	20 Hz	0.5°

multiScan165S

Profile	Scan frequency	Angular resolution
Profile01_20Hz_0p5deg	20 Hz	0.5°

multiScan166

Profile	Scan frequency	Angular resolution
Profile01_20Hz_0p125deg	20 Hz	0.125°

Note

For the datasheet and full list of specifications, visit the multiScan100 product page.

For guidance on how to use this sensor optimally in Isaac Sim, use the contact function on the SICK digital twin landing page.

nanoScan3

Asset details

USD Path:

SICK/nanoScan3/SICK_nanoScan3.usd

nanoScan3 (Certified)

The SICK nanoScan3 is the smallest safety laser scanner, which is well suited for the protection and localization of mobile platforms.

Features and Specification

This sensor has an angular resolution of 0.17° and a scan frequency of 33Hz.

Note

For the datasheet and full list of specifications, visit the nanoScan3 product page.

For guidance on how to use this sensor optimally in Isaac Sim or for information about a higher-fidelity sensor model (including definition and evaluation of safety fields), use the contact function on the SICK digital twin landing page.

picoScan100

Asset details

USD Path:

SICK/picoScan100/SICK_picoScan100.usd

picoScan100 (Certified)

The SICK picoScan100 is a 2D LiDAR sensor for solving demanding industrial applications such as collision avoidance or measurement and monitoring in indoor and outdoor areas.

Features and Specification

Select the Product variant on the default prim first, using the product name above each table. Then select the exact Profile value from that product’s table. Only the listed combinations are supported.

picoScan120

Profile	Scan frequency	Angular resolution
Profile03_20Hz_0p1deg	20 Hz	0.1°

picoScan150Core

Profile	Scan frequency	Angular resolution
Profile02_15Hz_0p33deg	15 Hz	0.33°
Profile05_25Hz_0p25deg	25 Hz	0.25°
Profile11_15Hz_1p0deg	15 Hz	1.0°

picoScan150Prime

Profile	Scan frequency	Angular resolution
Profile01_15Hz_0p5deg	15 Hz	0.5°
Profile02_15Hz_0p33deg	15 Hz	0.33°
Profile03_20Hz_0p1deg	20 Hz	0.1°
Profile04_20Hz_0p25deg	20 Hz	0.25°
Profile05_25Hz_0p25deg	25 Hz	0.25°
Profile06_30Hz_0p1deg	30 Hz	0.1°
Profile07_40Hz_0p25deg	40 Hz	0.25°
Profile08_50Hz_0p25deg	50 Hz	0.25°
Profile09_15Hz_0p05deg	15 Hz	0.05°
Profile10_40Hz_0p125deg	40 Hz	0.125°
Profile11_15Hz_1p0deg	15 Hz	1.0°

picoScan150Pro

Profile	Scan frequency	Angular resolution
Profile01_15Hz_0p5deg	15 Hz	0.5°
Profile02_15Hz_0p33deg	15 Hz	0.33°
Profile03_20Hz_0p1deg	20 Hz	0.1°
Profile04_20Hz_0p25deg	20 Hz	0.25°
Profile05_25Hz_0p25deg	25 Hz	0.25°
Profile06_30Hz_0p1deg	30 Hz	0.1°
Profile07_40Hz_0p25deg	40 Hz	0.25°
Profile08_50Hz_0p25deg	50 Hz	0.25°
Profile09_15Hz_0p05deg	15 Hz	0.05°
Profile10_40Hz_0p125deg	40 Hz	0.125°
Profile11_15Hz_1p0deg	15 Hz	1.0°

Note

For the datasheet and full list of specifications, visit the picoScan100 product page.

For guidance on how to use this sensor optimally in Isaac Sim, use the contact function on the SICK digital twin landing page.

SLAMTEC

SLAMTEC

RPLIDAR S2E

Asset details

USD Path:

Slamtec/RPLIDAR_S2E/Slamtec_RPLIDAR_S2E.usd

SLAMTEC RPLIDAR S2E is a low cost 360 degrees 2D laser scanner Lidar from SLAMTEC.

Features and Specification

RPLIDAR S2E Features

name	RPLIDAR S2E
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	32000
numberOfEmitters	1
nearRangeM	0.05
farRangeM	30.0
rangeResolutionM	0.013
rangeAccuracyM	0.03
minDistBetweenEchos	0.05
minReflectance	0.1
minReflectanceRange	10.0
wavelengthNm	905.0
pulseTimeNs	5
azimuthErrorMean	0.0
azimuthErrorStd	0.0
elevationErrorMean	0.0
elevationErrorStd	0.0
maxReturns	1

Note

For the datasheet and full list of specifications, vist the RPLIDAR S2 product page.

ZVISION

ZVISION

ML-30s+ (Certified)

Asset details

USD Path:

ZVISION/ZVISION_ML30S.usda

ZVISION ML-30s+ is a short range automotive grade solid state Lidar. Note there is no mesh for this lidar, so when it is created via the UI, only a prim will appear in the Stage window.

Features and Specification

ML-30s+ Features

name	ML-30s+
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10
numberOfEmitters	51200
numberOfChannels	51200
nearRangeM	0.2
farRangeM	45.0
effectiveApertureSize	0.01
focusDistM	0.12
rangeResolutionM	0.03
rangeAccuracyM	0.03
minDistBetweenEchos	0.2
minReflectance	0.1
minReflectanceRange	270.0
wavelengthNm	905.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.025
elevationErrorMean	0.0
elevationErrorStd	0.025
maxReturns	2

To create the sensor from the menu: Create>Sensors>RTX Lidar>ZVISION>ML30S+

Note

For the datasheet and full list of specifications, visit the ML-30s+ product page.

ML-Xs (Certified)

Asset details

USD Path:

ZVISION/ZVISION_MLXS.usda

ZVISION ML-Xs is a long range automotive high performance grade solid state Lidar. Note there is no mesh for this lidar, so when it is created via the UI, only a prim will appear in the Stage window.

Features and Specification

ML-Xs Features

name	ML-Xs
type	lidar
scanRateBaseHz	10.0
reportRateBaseHz	10
numberOfEmitters	108000
numberOfChannels	108000
nearRangeM	0.5
farRangeM	250
effectiveApertureSize	0.01
focusDistM	0.12
rangeResolutionM	0.03
rangeAccuracyM	0.05
minReflectance	0.1
minReflectanceRange	270.0
wavelengthNm	1550.0
pulseTimeNs	6
azimuthErrorMean	0.0
azimuthErrorStd	0.025
elevationErrorMean	0.0
elevationErrorStd	0.025
maxReturns	2

To create the Lidar prim: Create>Sensors>RTX Lidar>ZVISION>MLXS

Note

For the datasheet and full list of specifications, visit the ML-Xs product page.