3D depth camera simulation in Isaac Sim

Omniverse Isaac Sim
1

We want to simulate a 3D depth camera in Isaac Sim to move the axis of a robot and for AI but without the use of the Isaac SDK and a “simulated robot”. But we can’t find any examples or references for this. Is that possible or is the SDK always needed for simulation?

2

Hi @jo-mo - You can find more information about depth here: 3. Cameras — Omniverse IsaacSim latest documentation

3

I have tested all the things in the documentation with ROS2 and it worked. But is there no way to do the 3D-depth part without the use of ROS2 or Isaac SDK ? We just want to use Issac Sim (and Python, Actiongraph etc.) like in the Leonardo Demo. But unfortunately the 3D cameras there are not simulated.

5

Hi there

would using depth data from replicator annotators work for your case?

You can take a look at this snippet example on how to access annotator data:

Best,
Andrei

6

the code in the snippets only work in standalone mode, but not as code in an extension. When running it as extension I will only get errors when calling world.step() and if I don’t call it, I will get empty data from the annotators.

7

I see, when used in extension or script editor you should use step_async, here is an example on how you can do that: