Extract render buffers programmatically in Ominiverse Isaac Sim?


I have a project in Omniverse where I need to extract rendering buffers such as beauty, normal, depth, albedo, glossiness, Illuminance, and semantic segmentation during simulation. I’ve reviewed the Omniverse documentation and found that IRay can generate these buffers. However, I have a couple of questions:

  1. Is there a way to extract all the buffers I need programmatically, in one go? Does Omniverse provide a Python API for this purpose?
  2. I also need semantic segmentation, which seems to only be possible with Isaac Sim. However, IRay is not available as a renderer option by default in Isaac Sim. Can you please advise on how to enable IRay in Isaac Sim to generate the required buffers?

Thank you for your help.