Isaac Sim Version
4.5.0
Operating System
Ubuntu 22.04
I’m very sorry, but I’ve encountered a series of issues while using Isaac Sim 4.5.
I wanted to use “Non-Visual Materials” to create some “point cloud noise”, so I followed the documentation and ran some tests, but I discovered many problems.
I launched Isaac Sim 4.5 according to the documentation in order to use “Non-Visual Materials”. The startup method was as follows:
./isaac-sim.sh \
--/rtx/materialDb/nonVisualMaterialCSV/enabled=false \
--/app/rtxSensorSample/contentMaterialTest/enabled=true \
--/rtx/rtxsensor/coordinateFrameQuaternion="0.5,-0.5,-0.5,-0.5"
First, the examples in the documentation don’t match what’s actually in Isaac Sim 4.5.
I located the sample case by following the specified path, but encountered some issues upon opening it.
When I switched to the “RTXSensorSample” camera, I found it was completely different from what the documentation described.
The green materials were just ordinary materials, not as expected.According to the documentation, there should be “custom string inputs: nonvisual:attributes=‘emissive’” configurations for these “Non-Visual Materials.” However, in reality, they are just standard PBR materials. As a result, even after switching cameras, they produce no effect.
Later, I created a new scene to conduct further testing. The green section was assigned a “Non-Visual Material” by adding it via “Add” + “Attribute,” with the material named “b.” All other materials remained standard PBR materials labeled “a.”
Next, I added an “RTXSensor” to the scene.Since I noticed some configuration requirements, I restarted Isaac Sim and set up the necessary parameters before creating the “RTX sensor” in Python.
Here’s my complete code implementation:
import carb
carb.settings.get_settings().set_bool("/rtx/materialDb/nonVisualMaterialCSV/enabled", False)
import omni.kit.commands
from pxr import Gf
import omni.replicator.core as rep
lidar_config = "Example_Rotary"
# 1. Create The Camera
_, sensor = omni.kit.commands.execute(
"IsaacSensorCreateRtxLidar",
path="/sensor",
parent=None,
config=lidar_config,
translation=(-5.83932, 0, 1.0),
orientation=Gf.Quatd(1,0,0,0),
)
# 2. Create and Attach a render product to the camera
render_product = rep.create.render_product(sensor.GetPath(), [1, 1])
# 3. Create Annotator to read the data from with annotator.get_data()
annotator = rep.AnnotatorRegistry.get_annotator("RtxSensorCpuIsaacCreateRTXLidarScanBuffer")
annotator.attach(render_product)
# 4. Create a Replicator Writer that "writes" points into the scene for debug viewing
writer = rep.writers.get("RtxLidarDebugDrawPointCloudBuffer")
writer.attach(render_product)
However, the results were disappointing - it appears to have no effect at all. My intended outcome was for the laser to generate some noise when hitting the mirror, but currently there’s no observable effect.
I’m unsure where the issue lies. It seems the “Non-Visual Materials” aren’t functioning as expected to achieve the desired simulation behavior.
I’d really appreciate some guidance on this issue.
Collected_111.zip (3.8 KB)