Adding noise to sensor readings

Hi,
I have a robot with a Lidar and RGB-D camera. I want to introduce some noise into the readings, and I could not find an option in the property window of the sensors to do so. I have used Gazebo previously, and there the option to add noise could directly be added in the xacro files while defining the robot. How do I add noise to my sensor readings in Isaac Sim? Thank you for your reply!
Regards,
Vivek Varma

Hi @vivekvarma98 ,

Unfortunately we don’t have a shortcut for adding noise to your sensor in the current version, but will be added soon.
You could write a python script to do this, although is not the best way but should work.

Kindly,
Liila

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