Isaac Sim Version
4.5.0
Operating System
Windows 11
Is there a way to force Lidar sensor in Isaac Sim to generate point cloud data immediately after initialization?
Detailed Description
I’m working with RTX Lidar sensor in Isaac Sim (Python API) and would like to obtain point cloud data as soon as possible after initializing the simulation. Currently, I have to step the simulation for some iterations (e.g., 7 steps) before getting point cloud data, even this doesn’t guarantee a point cloud data in the next step because of synchronization issues (I feel). Here’s a simplified version of my code:
cube = VisualCuboid(..)
lidar = LidarRTX(...)
world.reset()
#7/1000 steps doesn't guarantee a point cloud in the
#next time step i.e., outside the loop.
for _ in range(7):
world.step()
data = lidar.get_point_cloud_data()
Is there a way to force the Lidar sensor to generate valid point cloud data immediately i.e., without any sort of while loop? Are there any recommended practices or API calls to speed up sensor initialization and data readiness? Also, is there a way to synchronize the lidar firing with world timing to get immediate point cloud etc.
So, overall looking for a way to force the lidar to get the point cloud or get a way to synchronize the time steps in order to get point cloud reading.
Thanks!