RTX Radar Isaac Sim

Omniverse Isaac Sim
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1

Isaac Sim Version

5.1.0
5.0.0
4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 24.04
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: NVIDIA GeForce RTX 4090
  • Driver Version: CUDA Toolkit 12.8, Driver 12.6

Topic Description

Accessing the full data from the RTX radar, which is already initialized in the environment.

Detailed Description

In Isaac Sim 4.5, it was easy to create an annotator “RtxSensorGpuIsaacComputeRTXRadarPointCloud” and use .get_data() to access the entire data from the sensor. But in Isaac Sim, the annotator got replaced with “IsaacExtractRTXSensorPointCloudNoAccumulator”, and if I do the same annotator.get_data(), I can only get the Cartesian points output. Is there any way to get the range, azimuth, and elevation values from the sensor in Isaac Sim 5.0?

Note: I have modified both the Example.json file and the radar attributes in the environment to 4D and FUUL_EL to get the full elevation data

Steps to Reproduce

  1. Create a Radar sensor either through a script or directly in the environment

  2. Create an annotator using the label mentioned above

  3. Use annotator.get_data() function to access the radar output

Error Messages

2025-10-06T17:00:40Z [10,137ms] [Error] [omni.kit.app._impl] [py stderr]: “azimuth”: info[“azimuth”].tolist(),
2025-10-06T17:00:40Z [10,137ms] [Error] [omni.kit.app._impl] [py stderr]: ~~~~^^^^^^^^^^^
2025-10-06T17:00:40Z [10,137ms] [Error] [omni.kit.app._impl] [py stderr]: KeyError: ‘azimuth’

Screenshots or Videos

Screenshot from 2025-10-06 12-52-54
Screenshot from 2025-10-06 12-52-541264×297 65.7 KB

Additional Information

What I’ve Tried

Tried using different annotators. Went through the documentation top to bottom, didn’t find a thing. It would be great if someone could point me to the proper document or example for understanding RTX Radar, other than the Isaac Sim documentation.

2

Hi, did you find out how to access RCS or Power values? I also only get the x,y,z values from the IsaacExtractRTXSensorPointCloudNoAccumulator


3

Unfortunately, no, I’m in the same boat as you. I can only access the x, y, z Cartesian points and nothing else. If I try a different annotator, the output is just empty.

5

Finally, found a way to extract the azimuth, elevation, range and rcs information from the data. I have a attached a code below for your reference. Hope it helps.

radar_path = "radar"
radar_parent = str(uav_parent.GetPrimPath()) + '/Radar'

# Specify attributes to apply to the ``OmniRadar`` prim.
sensor_attributes = {'omni:sensor:tickRate': 10}

_, sensor_l = omni.kit.commands.execute(
    "IsaacSensorCreateRtxRadar",
    translation=Gf.Vec3d(0, 0, 0),
    orientation=Gf.Quatd(1, 0, 0, 0,),
    path=radar_path,
    parent=radar_parent,
    visibility=False,
    variant=None,
    force_camera_prim=True,
    config=radar_config,
    **sensor_attributes,
)
hydra_texture = rep.create.render_product(
            sensor.GetPath(),
            [1, 1],
            name="Radar",
            render_vars=["GenericModelOutput", "RtxSensorMetadata"],
        )
ann = rep.AnnotatorRegistry.get_annotator("GenericModelOutput")

ann.attach([hydra_texture_r.path])
simulation_context = SimulationContext(
    physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, stage_units_in_meters=1.0
)
simulation_app.update()
simulation_context.play()

while simulation_app.is_running():
    simulation_app.update()

    radar_data = ann.get_data()
    gmo = get_gmo_data(radar_data_l)

    print("----------------- GMO Radar ------------")
    print("Azimuth:", gmo.x[:10])          # first 10 values
    print("Elevation:", gmo.y[:10])
    print("Range:", gmo.z[:10])
    print("RCS:", gmo.scalar[:10])
    print("--------------------------------------------------")


# cleanup and shutdown
simulation_context.stop()
simulation_app.close()

Here are some links which might be helpful:

1 Like
6

Sorry for missing this topic. I also posted in a duplicate discussion (Synthetic Data Collection from RTX Radar · isaac-sim/IsaacSim · Discussion #242 · GitHub). Thanks for sharing your solution and sample code for extracting azimuth, elevation, range, and RCS from the GMO outputs—this is really helpful for those navigating the RTX Radar sensor data changes in Isaac Sim 5.x.