Ultrasonic sensor deprecated issus

Omniverse Isaac Sim
,
1

Isaac Sim Version

4.2.0

Operating System

Ubuntu 24.04

Hi.
I am developing an extension using the the ultrasonic sensor.
But I am seeing this is deprecated and will be removed later.

I don’t know if it’s possible that I can get the source code for this sensor. Essentailly, enough resources for us to implement this function and get its interface

result, prim = omni.kit.commands.execute(
“RangeSensorCreateUltrasonicArray”,
path=“/UltrasonicArray”,
parent=None,
min_range=0.4,
max_range=3.0,
draw_points=False,
draw_lines=False,
horizontal_fov=15.0,
vertical_fov=10.0,
horizontal_resolution=0.5,
vertical_resolution=0.5,
num_bins=224,
use_brdf: bool = False,
use_uss_materials: bool = False,
emitter_prims=,
firing_group_prims=,
)
I am assuming this is written in cpp from PhysX raycast()
We are planning to publish this extension and we don’t want to limit our users to 4.2.0 only.

Or if you have any suggestions on other modules we may want to develop with.
I know by generic range sensor we can get the point cloud but essentially we also want to have each ray cast intensities.
We want to get intensities adjusted based on uss materials, so as far as I can find, this is the only module can do that.

Thanks. Any suggestions are welcomed.

3

Thank you for raising this important issue regarding the deprecated ultrasonic sensor in Isaac Sim. I understand your concerns about developing an extension that depends on this sensor and your desire to ensure compatibility with future versions. We will follow up with you after we have discussed this matter.

4

Deeply appreciated that we can attract attentsions from the software development team.

We are conducting a university funded research project in US.

One of the deliverables will include an extension to be addded to Isaac sim.

Right now we are having troubles locating the source files of omni.issac.sensor. We aim to find the lowest level implementation of them from PhysX engine, for instance, I would assume such Ultrasonic module will involve raycast() function.

Are those code somewhere in the app root path or is not open sourced?

Feel free to reach out to me through the email linked to this account.

Thanks.