Getting IsaacCreateRTXLidarScanBuffer params on new Lidar schema (Omniverse 6.01)

[quagjustin]

Hello,

I'm trying to migrate my code from the deprecated IsaacCreateRTXLidarScanBuffer schema to the new version with LidarSensor, and I'm having trouble bringing over some of the parameters mentioned in the docs here. Specifically, I don't know how to get the azimuth field, and others like distance and elevation are troublesome to get as well. Any info here would be appreciated. Thanks in advance!

[lhuang-svg]

Hi @quagjustin,
The migration path here is a bit non-obvious since azimuth/elevation/distance aren't named outputs on LidarSensor the way they were on IsaacCreateRTXLidarScanBuffer — but the data is all there via the GenericModelOutput buffer.

Use parse_generic_model_output_data to unpack it:

from isaacsim import SimulationApp
kit = SimulationApp()

import numpy as np
import omni
from isaacsim.sensors.experimental.rtx import Lidar, LidarSensor, parse_generic_model_output_data

lidar = Lidar.create(
    path="/World/lidar",
    config="Example_Rotary",
    aux_output_level="BASIC",  # needed for emitterId, channelId, tickId, etc.
    translations=np.array([0.0, 0.0, 1.0]),
    orientations=np.array([1.0, 0.0, 0.0, 0.0]),
)

sensor = LidarSensor(lidar, annotators=["generic-model-output"])

timeline = omni.timeline.get_timeline_interface()
timeline.play()

for _ in range(100):
    kit.update()
    data, info = sensor.get_data("generic-model-output")
    if data is not None:
        gmo = parse_generic_model_output_data(data)
        print(f"azimuth:   {gmo.azimuth}")
        print(f"elevation: {gmo.elevation}")
        print(f"distance:  {gmo.distance}")

timeline.stop()
kit.close()

For the full list of available fields on gmo, see the GenericModelOutput API docs. The bundled standalone example is also handy for exploration:

./python.sh standalone_examples/api/isaacsim.sensors.experimental.rtx/inspect_lidar_gmo.py --aux-data-level FULL

Hope that unblocks you! Let me know if any of the gmo fields are still missing or behaving unexpectedly.

[lhuang-svg]

Closing this ticket since there is no response for more than two weeks. Feel free to re-open, or open a new ticket if you still need any support.