How to RTX ray tracing in isaac sim

Omniverse Isaac Sim
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Hi.

I am trying to simulate a sensor that is able to return the point cloud data from the usd scene after 1 ray bounce.

The goal is simple and we want to to do it “close” to real time just like omniverse replicator.

I saw there is a page describing RTX sensor and RTX radar supports multiple ray bounces.

I also know that unfortunately Omniverse can not release the source code to those RTX sensor plugins.

By any chance, is there a starting SDK for users or some basic tutorials for user to develop an RTX sensor. For instance, by using which package we may cast rays and interact with the USD mesh?

GMO on this webpage doesn’t address the key problems of developing USD based RTX plugin.

Any suggestions are appreciated. Thanks.

How to get point cloud data after one ray bounce
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Everything we do here at Nvidia Omniverse is based on the RTX Renderer. That is your starting point. RTX realtime, and RTX Path tracing. The RTX sensor suite is also based on this code. This is all CORE to Omniverse.

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