Can I make custom sensors through omniverse sim for 3D simulation?

Omniverse Isaac Sim
1

First of all, I really appreciate your effort for omniverse development.

Though early access version, I want to simulate robotic navigation with my own algorithm. In order to make that, I wonder to possible to make few things.

  1. I can make my own robotic simulation through omniverse sim NOT isaac-unity-3d. Right?
  2. If #1 is right, can I make custom sensor to make simulated data? ex. Sonar, Hokuyo Lidar sensor, etc.
  3. For #2, I think that I would modify omniverse kit. So where can I pull source of ominverse?

I will be grateful for any help many developer can provide.

2

Hello,

–>I can make my own robotic simulation through omniverse sim NOT isaac-unity-3d. Right?

Yes, that’s the idea.

–>If #1 is right, can I make custom sensor to make simulated data? ex. Sonar, Hokuyo Lidar sensor, etc.

Currently through Python API the user can program existing simple ‘lidar’ which measures range through ray-casting against the physics collision shapes in the simulator. The ray sampling pattern is somewhat configurable, but this isn’t a device-equivalent system with rolling shutter, noise modeling, etc.

–>I think that I would modify omniverse kit. So where can I pull source of ominverse?
The Isaac Sim 2020.1 EA download from Developer Zone offers user programming through Python APIs that expose functionality of underlying Omniverse Kit. A future release will enable users to write extensions in C++, but I don’t have a specific date for that at present.

Thanks,
Mike

3

Hello, Mike

Thank you for your replies.
I’m looking forward to C++ extension and more easily modified Lidar.

Thanks,
Claid