RTX Lidar Code

[Sirens_uk]

Hey All,

I’ve been working on getting the RTX Lidar to work in my scene.

I followed Adams video on RTX lidar, specifically around the 20 mins mark

Isaac Sim/Robotics Weekly Livestream: Sensors - RTX Lidar

Following the code below, which differs from the rtx_lidar.py in the video

---

create the sensor camera

import omni
from pxr import Gf
_, sensor = omni.kit.commands.execute(
“IsaacSensorCreateRtxLidar”,
path=‘/sensor’,
parent=None,
config=‘Example_Rotary’,
translation=(0, 0, 1.0),
orientation=Gf.Quatd(0.5, 0.5, -0.5, -0.5), # Gf.Quatd is w,i,j,k
)

create a hydra texture to store render product

from omni.isaac.core.utils.render_product import create_hydra_texture
_, render_product_path = create_hydra_texture([1,1], sensor.GetPath().pathString)

create the debug draw pipline in the process graph

import omni.replicator.core as rep
writer = rep.writers.get(‘RtxLidar’ + ‘DebugDrawPointCloud’)
writer.attach([render_product_path])

---

When I run the intial part of the code in the script editor to create the sensor, it runs with no errors but wont create the sensor head in the stage? Cant understand why it wont create the sensor head, also when I go to the action graph it wont give me the SDG option so its not loaded in the action graph setup up either.

Any help here woud be awesome.

Thanks

[Sirens_uk]

A little bit more info I also tried the following

https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/isaac_sim_sensors_rtx_based_lidar.html

The following code snippet, when run in the Script Editor, will:

1. create a RTX Lidar sensor in the scene
2. render its results into a Hydra texture
3. create a point cloud from the results using the IsaacComputeRTXLidarPointCloud node
4. visualize those results with the DebugDrawPointCloud node

It wont run the create giving me an error of

Not sure why this is?

[Sirens_uk]

I’m running on windows which i believe is running on beta?

[mcarlson1]

Sorry, we need to clarify our documentation. RTX Lidar only works in Linux.