RTX Lidar Config Library in Isaac Orbit

I was wondering if somebody knows a ways to use the lidar configs in the RTX Lidar Config Library (found here: RTX Lidar Sensor — Omniverse IsaacSim latest documentation) in Isaac Orbit. I also have the general question if there is any support for lidars in Isaac Orbit already?

Thank you so much for your help!


We do not have support RTX Lidars yet since they are not parallelized. Instead, we went along with first integrating warp-based ray-casters, which allows you to specify different/custom scan patterns.

However, I think the RTX Lidar should operate very similar to how RTX-based camera sensors are integrated in the framework. Unfortunately, adding this feature is on a lower priority in our development plans. However, if you’re interested in contributing this feature, we are happy to provide the support needed to get this feature in.