How to add sensors to SDK?

Hi There,
I have a BNO055 9DOF IMU device which is 3 more DOF than the BMI160. I was looking for the source file for the BMI160 GEM so that I could write the BNO055 GEM, but I can’t seem to find the location in the SDK or Github. Can you please help me understand the process of adding new sensors or where the source code is for the current imu one?

Mike

You can implement your own codelets to add support for new sensors including IMUs, but the sources for the BMI160 implementation in Isaac SDK 2020.2 is not available at this time, however.