IsaacSensorManager#

Fully qualified name: isaacsim::sensors::physics::IsaacSensorManager

class IsaacSensorManager : public isaacsim::core::includes::PrimManagerBase<IsaacBaseSensorComponent>#

Manager class for handling Isaac physics-based sensors.

This class manages various physics-based sensors in the Isaac environment, including contact sensors and IMU sensors. It handles sensor lifecycle, updates, and provides access to individual sensor components.

The manager inherits from PrimManagerBase and provides functionality for adding, updating, and managing sensor components in the physics simulation.

Public Functions

inline IsaacSensorManager(omni::physx::IPhysx *physXInterface)#

Constructs a new IsaacSensorManager instance.

Initializes the manager with a PhysX interface and creates a contact manager instance.

Parameters:: physXInterface – [in] Pointer to the PhysX interface used for physics simulation.

inline ~IsaacSensorManager()#

Destructor for IsaacSensorManager.

Cleans up all components and releases the contact manager.

inline virtual void onStop()#

Handles the stop event for all managed sensors.

Resets all components to their initial state, stops all sensors, resets the contact manager, and resets internal timers.

inline virtual void onComponentAdd(const pxr::UsdPrim &prim)#

Handles the addition of a new sensor component.

Creates and initializes appropriate sensor components based on the USD prim type. Supports creation of contact sensors and IMU sensors.

Parameters:: prim – [in] The USD primitive representing the sensor to be added.

inline virtual std::vector<std::string> getComponentIsAVector( ) const#

Returns a vector of supported sensor component types.

Provides a list of USD prim types that this manager can handle.

Returns:: Vector of strings representing supported sensor types.

inline virtual void onComponentChange(const pxr::UsdPrim &prim)#

Handles changes to a sensor component’s properties.

Updates the component’s state when its properties change in the USD stage.

Parameters:: prim – [in] The USD primitive whose properties have changed.

inline IsaacBaseSensorComponent *getComponent(std::string path)#

Retrieves a sensor component by its path.

Looks up a sensor component using its USD path string.

Parameters:: path – [in] String representation of the sensor’s USD path.
Returns:: Pointer to the sensor component if found, nullptr otherwise.

inline void onPhysicsStep(const double &dt)#

Updates all sensor components during the physics simulation step.

Processes physics updates for all sensor components, including contact and IMU sensors. Handles component initialization, timestep updates, and sensor-specific physics calculations.

Parameters:: dt – [in] Time step delta in seconds.

inline virtual void tick(double dt)#

Performs a tick update for all sensor components.

Updates all enabled sensor components during the simulation tick. Handles component initialization and tick-based updates.

Parameters:: dt – [in] Time step delta in seconds.

inline ContactSensor *getContactSensor(const pxr::UsdPrim &prim)#

Retrieves a contact sensor component for a given USD primitive.

Attempts to find and cast a component to a ContactSensor type.

Parameters:: prim – [in] USD primitive associated with the contact sensor.
Returns:: Pointer to the ContactSensor if found, nullptr otherwise.

inline ContactManager *getContactManager()#

Gets the contact manager instance.

Provides access to the manager’s contact handling system.

Returns:: Pointer to the ContactManager instance.

inline ImuSensor *getImuSensor(const pxr::UsdPrim &prim)#

Retrieves an IMU sensor component for a given USD primitive.

Attempts to find and cast a component to an ImuSensor type.

Parameters:: prim – [in] USD primitive associated with the IMU sensor.
Returns:: Pointer to the ImuSensor if found, nullptr otherwise.

inline virtual void initialize(pxr::UsdStageWeakPtr stage)#

Initializes the application with a USD stage.

Sets up the stage reference and creates the notice listener

Parameters:: stage – [in] Weak pointer to the USD stage to be managed
Post:: Application is initialized with the stage and notice listener

inline virtual void initComponents()#

Initializes components from the current stage.

Scans the USD stage for prims matching component types and creates corresponding components. Uses the USD runtime API for efficient traversal.

inline virtual void onPhysicsStep(float dt)#

Updates components during physics simulation steps.

Override this to implement physics-specific component updates

Parameters:: dt – [in] Physics time step in seconds

inline virtual void onComponentRemove(const pxr::SdfPath &primPath)#

Removes components associated with a prim and its descendants.

Safely removes components when their corresponding prims are deleted from the stage. Uses a mutex to ensure thread-safe component removal.

Thread Safety: This method is thread-safe

Parameters:: primPath – [in] Path to the prim being removed

inline virtual void deleteAllComponents()#

Removes all components and performs cleanup.

Thread-safe method to remove all components and release their resources

Thread Safety: This method is thread-safe

inline virtual void onStart()#

Handles application start event.

Optional callback that runs when the application starts Override this to implement custom start behavior

inline pxr::UsdStageWeakPtr getStage()#

Retrieves the managed USD stage.

Returns:: Weak pointer to the current USD stage

Protected Attributes

std::unordered_map<std::string, std::unique_ptr<IsaacBaseSensorComponent>> m_components#: Map of component paths to their corresponding component instances.

std::unique_ptr<PrimManagerUsdNoticeListener> m_noticeListener#: USD notice listener for stage changes.

std::mutex m_componentMtx#: Mutex for thread-safe component operations.

pxr::UsdStageWeakPtr m_stage = nullptr#: Weak pointer to the managed USD stage.

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.