Get sensor data from isaac sim

I want to write a function to get sensor data for kaya example,i find when i put the
gt = sd_helper.get_groundtruth(
[
“rgb”,
“depth”,
“boundingBox2DTight”,
“boundingBox2DLoose”,
“instanceSegmentation”,
“semanticSegmentation”,
“boundingBox3D”,
“camera”,
]
)
in function,and push the button ,the simulation dead.

@2934661830 I would recommend the following:

  1. If you want to use Isaac Sim UI and get sensor data, use the Synthetic Data Recorder extension. This extension enables offline data generation of various synthetic data sensor output locally. You can also visualize your sensor data in Isaac Sim UI using the Synthetic Data Visualizer extension.

  2. If you want to use a standalone python sample to get sensor data and generate offline data, refer to the Offline Dataset Generation python sample. This enables running Omniverse Isaac Sim directly from our main Python training loop and get sensor data such as rgb, bounding boxes, segmentation, depth, etc. The setup instruction can be found here.

The sd_helper is designed to work with the second approach and hence running it within the Isaac Sim UI will cause issue.