Important: Isaac Sim support
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Operating System
Ubuntu 24.04
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GPU Information
- Model: NVIDIA RTX Pro 4500 Blackwell
- Driver Version: 580.126.09
Topic Description
Trying to configure the RTX Lidar → Nvidia → Example Rotary sensor to query data from a scene set up. Can’t figure out what
Detailed Description
I’m trying to log data from the RTX Lidar (Example Rotary) in Isaac Sim. I’m using the IsaacCreateRTXLidarScanBuffer with RtxLidarDebugDrawPointCloudBufferas per the official documentation, but I keep getting the return array as this:
distance: (0,) intensity: (0,)
So it essentially returns nothing. I have a scene that is set up as a room (so 4 walls as well as a ceiling on top and a ground plane). There is no attached light in the room, but a stage light that lights up a franka arm. I have placed RTX Lidar on the hand and the goal is just to collect some stationary data as a .npz file, but I keep getting empty distance, intensity.
If someone has successfully collected data with the RTX Lidar through a script, can you point me to the correct APIs to do this?
Steps to Reproduce
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Error Messages
AnnotatorRegistryError: No annotator of name RtxSensorCpuIsaacCreateRTXLidarScanBuffer registered. Available annotators: [‘camera_params’, ‘rgb’, ‘normals’, ‘motion_vectors’, ‘cross_correspondence’, ‘occlusion’, ‘distance_to_image_plane’, ‘distance_to_camera’, ‘LdrColor’, ‘HdrColor’, ‘RtxSensorCpu’, ‘RtxSensorGpu’, ‘RtxSensorMetadata’, ‘IsaacComputeRTXLidarFlatScan’, ‘IsaacCreateRTXLidarScanBuffer’, ‘IsaacExtractRTXSensorPointCloudNoAccumulator’…]
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Additional Information
What I’ve Tried
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Additional Context
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