Creating custom Lidar in Isaac Sim 5.1.0

Omniverse Isaac Sim
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1

Hello,

I’m wondering in Isaac Sim 5.1.0 via the Python API, is there an expected way to use custom lidars? In the 4.5.0 documentation (see RTX Lidar Sensor — Isaac Sim Documentation), it mentions additional lidar configs being put in the lidar_configs folder. In the 5.1.0 documentation, there’s no mention of this folder, and a vague mention to using USD files. When I try to reference a config in this folder in Python, I get an error such as “Config ‘VELODYNE_VLS128’ not found for OmniLidar at /lidar”. Any advice here would be appreciated.

2

To create or configure a custom Lidar in Isaac Sim 5.1.0, please refer to RTX Lidar Sensor — Isaac Sim Documentation.

3

@yoshterra2 @VickNV
I am also looking for methods to customize the sensor. The official documentation for version 5.10 does provide some guidance, but it does not cover how to perform this customization.

import omni
from pxr import Gf

# Specify attributes to apply to the ``OmniLidar`` prim.
sensor_attributes = {'omni:sensor:Core:scanRateBaseHz': 20}

_, sensor = omni.kit.commands.execute(
    "IsaacSensorCreateRtxLidar",
    translation=Gf.Vec3d(0, 0, 0),
    orientation=Gf.Quatd(1, 0, 0, 0,),
    path="/lidar",
    parent=None,
    config=none,
    visiblity=False,
    variant=None,
    force_camera_prim=False,
    **sensor_attributes,
)

Executing the code creates a sensor, but it’s unclear which parameters are required for “sensor_attributes”, and there is no example provided to demonstrate it.