How to config Solid_State Lidar

Hello,
I want to simulate a custom mems lidar in Isaac sim, and I want to know Is there a detailed description of the parameters in the Example_Solid_State.json and the Solid State lidar model used in Isaac Sim. thanks~

Hi @cchasingw , please go through this documentation 11. Publish RTX Lidar Point Cloud — Omniverse Robotics documentation that will help you for solid state lidar configuration.

thanks for your help, I do have run the example follow the document, But I need more detailed description about the following fields in the Example_Solid_State.json file and I need more information about the lidar model used in the simulation to match our own LiDAR sensor better. look forward to your reply.

{
  "class": "sensor",
  "type": "lidar",
  "name": "Example Solid State",
  "driveWorksId": "GENERIC",
  "profile":
  {
    "scanType": "solidState",
    "intensityProcessing": "normalization",
    "rayType": "IDEALIZED",
    "nearRangeM": 1.0,
    "farRangeM": 200.0,
    "effectiveApertureSize": 0.01,
    "focusDistM": 0.12,
    "startAzimuthDeg": -50.0,
    "endAzimuthDeg": 50.0,
    "upElevationDeg": 8.0,
    "downElevationDeg": -8.0,
    "rangeResolutionM": 0.004,
    "rangeAccuracyM": 0.025,
    "avgPowerW": 0.002,
    "minReflectance": 0.1,
    "minReflectanceRange": 270.0,
    "wavelengthNm": 1550.0,
    "pulseTimeNs": 6,
    "reportTypes": "Strongest, Last, Dual",
    "maxReturns": 2,
    "scanRatesHz": [10.0],
    "scanRateBaseHz": 10.0,
    "reportRateBaseHz": 10,
    "numberOfEmitters": 50000,
    "numberOfChannels": 50000,
    "rangeCount": 1,
    "ranges": [
      {"min": 0.5, "max": 300}
    ],
    "azimuthErrorMean": 0.0,
    "azimuthErrorStd": 0.025,
    "elevationErrorMean": 0.0,
    "elevationErrorStd": 0.025,
    "stateResolutionStep": 1,
    "numLines": 50,
    "numRaysPerLine": 
    "emitterStateCount": 1,
    "emitterStates": [
      "azimuthDeg": [-50.0,-49.9,...],
      "elevationDeg": [-8.0, ...],
      "fireTimeNs": [0,1980,3960, ... , 98998019,99000000],
      "channelId": [1,2,3,4,5,6, ..., 49998,49999,50000],
      "rangeId": [0, 0, 0, ... ,0],
      "bank": [0,0, ... ,49,49,49,49]
      }
    ],
    "intensityMappingType": "LINEAR"