How to Avoid Using Lidar Sensors

[gudwnzm]

Hello.
I’m going to apply the Lidar sensor provided by Isaac sim to my robot to obtain the data value and add the avoidance function.
I know how to acquire data through this example, but I don’t know how to avoid it.
https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_advanced_range_sensor_lidar.html#use-the-python-api

[gudwnzm]

Hello @toni.sm
As I said above, I want to apply Isaac sim’s Lidar sensor to my robot to acquire data, and when I detect certain objects (Cube, Cone), I want to put in a function that moves by avoiding them.

I tried to get the data following this example, but nothing is printed. I put Lidar in robot.usd first, and I wrote Lidar’s path well in the script.
What’s the problem?

[toni.sm]

Hi @gudwnzm

Try removing the self._timeline.pause() line from code… You don’t need to pause the simulation to obtain the lidar data

In the following script you can find a simple test as a standalone python application:

/python.sh test_lidar.py

test_lidar.usd (2.3 KB)
test_lidar.py (1.2 KB)

import asyncio
import numpy as np
from omni.isaac.kit import SimulationApp

# This sample loads a usd stage and starts simulation
CONFIG = {"width": 1280, "height": 720, "sync_loads": True, "headless": False, "renderer": "RayTracedLighting"}
kit = SimulationApp(launch_config=CONFIG)

import omni
from omni.isaac.range_sensor import _range_sensor

omni.usd.get_context().open_stage("omniverse://localhost/test_lidar.usd")

# Wait two frames so that stage starts loading
kit.update()
kit.update()

print("Loading stage...")
from omni.isaac.core.utils.stage import is_stage_loading

while is_stage_loading():
    kit.update()
print("Loading Complete")

lidarInterface = _range_sensor.acquire_lidar_sensor_interface()

async def get_lidar_data():
    await omni.kit.app.get_app().next_update_async()
    depth = lidarInterface.get_depth_data("/World/Lidar")
    if depth.shape[0]:
        print("Depth: min: {}, max: {}".format(np.min(depth), np.max(depth)))
    else:
        print("Depth: None")
        
omni.timeline.get_timeline_interface().play()

while kit.is_running():
    kit.update()
    asyncio.ensure_future(get_lidar_data())

omni.timeline.get_timeline_interface().stop()
kit.close()