IsaacSensorComponentBase#

Fully qualified name: isaacsim::sensors::physics::IsaacSensorComponentBase

template<class PrimType>
class IsaacSensorComponentBase : public isaacsim::core::includes::ComponentBase<PrimType>#

Base class template for non-RTX Isaac sensors.

This class serves as the foundation for implementing non-RTX sensors in Isaac Sim. It provides the basic structure and lifecycle methods that all sensors should implement.

Note

This class inherits from ComponentBase to integrate with the Isaac Sim component system.

Template Parameters:

PrimType – The USD prim type representing the sensor. This type parameter allows different sensor implementations to use their specific USD prim types.

Subclassed by isaacsim::sensors::physics::ContactSensor, isaacsim::sensors::physics::ImuSensor

Public Functions

IsaacSensorComponentBase() = default#

Default constructor.

Constructs a new instance of the sensor component.

~IsaacSensorComponentBase() = default#

Virtual destructor.

Ensures proper cleanup of derived sensor classes.

inline virtual void initialize(
const PrimType &prim,
const pxr::UsdStageWeakPtr stage,
)#

Initializes the sensor component.

Sets up the sensor component with its USD prim and stage references.

Parameters:

  • prim – [in] USD prim representing the sensor.

  • stage – [in] USD stage containing the prim.

inline virtual void onStart()#

Called when the sensor starts.

Handles sensor initialization when the component is started. Triggers onComponentChange to ensure proper initial state.

inline virtual void onComponentChange()#

Called when sensor component properties change.

Updates the sensor’s enabled state when component properties are modified.

inline virtual void preTick()#

Called before each tick to prepare sensor state.

Provides an opportunity to prepare the sensor state before the main tick update. Default implementation does nothing.

virtual void tick() = 0#

Pure virtual function called each tick to update sensor state.

This method must be implemented by derived classes to define the sensor’s behavior during each simulation tick.

inline virtual void onPhysicsStep()#

Called each physics step to update sensor state.

Allows sensors to update their state based on physics simulation steps. Default implementation does nothing.

inline virtual void onStop()#

Called when the sensor stops.

Handles cleanup when the sensor component is stopped. Default implementation does nothing.

inline pxr::UsdPrim getParentPrim()#

Gets the parent prim of the sensor.

Retrieves the USD prim that is the parent of this sensor.

Returns:

USD prim that is the parent of this sensor.

inline virtual void onPhysicsStep(float dt)#

Called during each physics simulation step.

Override this to implement physics-based behavior

Parameters:

dt – [in] Time step size in seconds

inline virtual void onRenderEvent()#

Called for each rendered frame.

Override this to implement render-specific behavior or visual updates

inline virtual void updateTimestamp(
double timeSeconds,
double dt,
int64_t timeNano,
)#

Updates the component’s internal timing information.

Maintains synchronized timing state across the component

Parameters:

  • timeSeconds – [in] Current simulation time in seconds

  • dt – [in] Time step size in seconds

  • timeNano – [in] Current simulation time in nanoseconds

inline PrimType &getPrim()#

Retrieves the component’s USD prim.

Returns:

Reference to the component’s USD prim

inline bool getEnabled()#

Checks if the component is enabled.

Returns:

true if the component is enabled, false otherwise

inline uint64_t getSequenceNumber()#

Gets the component’s sequence number.

Returns:

The component’s sequence number

Public Members

bool mDoStart = true#

Flag indicating whether onStart should be called.

Protected Attributes

pxr::UsdPrim m_parentPrim#

USD prim that is the parent of this sensor.

Stores a reference to the parent USD prim that contains this sensor.

PrimType m_prim#

USD prim reference storing component settings.

pxr::UsdStageWeakPtr m_stage = nullptr#

Weak pointer to the USD stage containing the prim.

usdrt::UsdStageRefPtr m_usdrtStage = nullptr#

Runtime USD stage reference.

double m_timeSeconds = 0#

Current simulation time in seconds.

int64_t m_timeNanoSeconds = 0#

Current simulation time in nanoseconds.

double m_timeDelta = 0#

Time delta for current tick in seconds.

uint64_t m_sequenceNumber = 0#

Component sequence number for ordering/identification.

bool m_enabled = true#

Component enabled state flag.