is there any replicator node, writer or annotator which can publish moving object velocity-speed data from radar sensor ?, like RtxRadarROS2PublishPointCloud which is publishing point cloud x-y-z only.
Isaac Sim Version
5.1.0
5.0.0
Ubuntu 22.04
Please refer to the GenericModelOutput API and the discussion:
Update: The IsaacCreateRTXRadarPointCloud annotator is planned for Isaac Sim 6.0 GA.
I am using omnigraph node to produce radar data , in that i used below code to get gmo data
def inspect_radar_metadata(gmo_buffer: dict) -> None:
carb.log_warn(gmo_buffer)
gmo = get_gmo_data(gmo_buffer)
return
but in this get_gmo_data function create crash every time with below error
Could you please share a minimal reproduction script and the full Isaac Sim log so the crash can be reproduced and investigated on our side?
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from isaacsim.sensors.rtx import get_gmo_data
import omni.isaac.IsaacSensorSchema as IsaacSensorSchema
GMO_FIELDS = [
"numElements",
"x",
"y",
"z",
"scalar",
"sensorID",
"scanIdx",
"cycleCnt",
"maxRangeM",
"minVelMps",
"maxVelMps",
"minAzRad",
"maxAzRad",
"minElRad",
"maxElRad",
"rv_ms",
]
def inspect_radar_metadata(gmo_buffer: dict) -> None:
carb.log_warn(gmo_buffer)
gmo = get_gmo_data(gmo_buffer)
for field in GMO_FIELDS:
carb.log_warn(field)
carb.log_warn(getattr(gmo, field))
return
class OgnMySensorRadarPy:
@staticmethod
def compute(db) -> bool:
# Initialization Logic
if db.per_instance_state.initialized is False:
db.per_instance_state.initialized = True
carb.log_warn("Initializing Radar Sensor...")
stage = omni.usd.get_context().get_stage()
with Usd.EditContext(stage, stage.GetSessionLayer()):
render_product_path = db.inputs.renderProductPath
db.per_instance_state.render_product_path = render_product_path
try:
if db.per_instance_state.annotator is None:
db.per_instance_state.annotator = rep.AnnotatorRegistry.get_annotator("GenericModelOutput")
db.per_instance_state.annotator.initialize()
db.per_instance_state.annotator.attach([render_product_path])
except Exception as e:
carb.log_error(f"Error during initialization:")
carb.log_error(traceback.format_exc())
db.per_instance_state.initialized = False
return False
if db.per_instance_state.annotator is not None :
data = db.per_instance_state.annotator.get_data()
if len(data) > 0:
carb.log_warn("Annotator Data : ")
inspect_radar_metadata(gmo_buffer=data)
return True
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LOG :
2025-12-12T05:33:16Z [150,553ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:enabled -
Error in 'pxrInternal_v0_24__pxrReserved_::UsdStage::SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:enabled>’
2025-12-12T05:33:17Z [150,753ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:enabled -
Error in 'pxrInternal_v0_24__pxrReserved::UsdStage::SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:enabled>’
2025-12-12T05:33:17Z [150,768ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:enabled -
Error in 'pxrInternal_v0_24__pxrReserved::UsdStage::SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:enabled>’
2025-12-12T05:33:17Z [150,790ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:enabled -
Error in 'pxrInternal_v0_24__pxrReserved::UsdStage::SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:enabled>’
2025-12-12T05:33:17Z [150,811ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:enabled -
Error in 'pxrInternal_v0_24__pxrReserved::UsdStage::SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:enabled>’
2025-12-12T05:33:17Z [150,861ms] [Warning] [omni.sensors.nv.radar.wpm_dmatapprox.plugin] WPM DmatApprox Radar: Material mapping is not accessible. Running without materials will not produce correct results.
2025-12-12T05:33:17Z [151,146ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:simTimesToWrite -
Error in 'pxrInternal_v0_24__pxrReserved::UsdStage::SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:simTimesToWrite>’
2025-12-12T05:33:17Z [151,197ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:simTimesToWrite -
Error in 'pxrInternal_v0_24__pxrReserved::UsdStage::_SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:simTimesToWrite>’
2025-12-12T05:33:17Z [151,214ms] [Warning] [omni.timeline.plugin] Deprecated: direct use of ITimeline callbacks is deprecated. Use ITimeline::getTimeline (Python: omni.timeline.get_timeline_interface) instead.
2025-12-12T05:33:17Z [151,248ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] Annotator Data :
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] [79 77 71 … 0 0 0]
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] numElements
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] 1
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] x
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] [3.497689]
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] y
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] [8.944679]
2025-12-12T05:33:17Z [151,250ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] z
2025-12-12T05:33:17Z [151,250ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] [2.6893032]
2025-12-12T05:33:17Z [151,250ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] scalar
2025-12-12T05:33:17Z [151,250ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] [-10.439983]
2025-12-12T05:33:17Z [151,250ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] sensorID
2025-12-12T05:33:18Z [0ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash] A crash has occurred. If a debugger should be attached, please set the ‘/crashreporter/debuggerAttachTimeoutMs’ setting to a timeout in milliseconds. This can be used to allow the crash reporter to wait for up to that long for a debugger to attach before processing or sending the crash report.
2025-12-12T05:33:49Z [30,355ms] [Warning] [carb.crashreporter-breakpad.plugin] … waiting for PID 2111376 to exit …
2025-12-12T05:34:19Z [60,662ms] [Warning] [carb.crashreporter-breakpad.plugin] … waiting for PID 2111376 to exit …
2025-12-12T05:34:49Z [90,998ms] [Warning] [carb.crashreporter-breakpad.plugin] … waiting for PID 2111376 to exit …
2025-12-12T05:35:20Z [121,298ms] [Warning] [carb.crashreporter-breakpad.plugin] … waiting for PID 2111376 to exit …