Please refer to the GenericModelOutput API and the discussion:
Update: The IsaacCreateRTXRadarPointCloud annotator is planned for Isaac Sim 6.0 GA.
Could you please share a minimal reproduction script and the full Isaac Sim log so the crash can be reproduced and investigated on our side?
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from isaacsim.sensors.rtx import get_gmo_data
import omni.isaac.IsaacSensorSchema as IsaacSensorSchema
GMO_FIELDS = [
"numElements",
"x",
"y",
"z",
"scalar",
"sensorID",
"scanIdx",
"cycleCnt",
"maxRangeM",
"minVelMps",
"maxVelMps",
"minAzRad",
"maxAzRad",
"minElRad",
"maxElRad",
"rv_ms",
]
def inspect_radar_metadata(gmo_buffer: dict) -> None:
carb.log_warn(gmo_buffer)
gmo = get_gmo_data(gmo_buffer)
for field in GMO_FIELDS:
carb.log_warn(field)
carb.log_warn(getattr(gmo, field))
return
class OgnMySensorRadarPy:
@staticmethod
def compute(db) -> bool:
# Initialization Logic
if db.per_instance_state.initialized is False:
db.per_instance_state.initialized = True
carb.log_warn("Initializing Radar Sensor...")
stage = omni.usd.get_context().get_stage()
with Usd.EditContext(stage, stage.GetSessionLayer()):
render_product_path = db.inputs.renderProductPath
db.per_instance_state.render_product_path = render_product_path
try:
if db.per_instance_state.annotator is None:
db.per_instance_state.annotator = rep.AnnotatorRegistry.get_annotator("GenericModelOutput")
db.per_instance_state.annotator.initialize()
db.per_instance_state.annotator.attach([render_product_path])
except Exception as e:
carb.log_error(f"Error during initialization:")
carb.log_error(traceback.format_exc())
db.per_instance_state.initialized = False
return False
if db.per_instance_state.annotator is not None :
data = db.per_instance_state.annotator.get_data()
if len(data) > 0:
carb.log_warn("Annotator Data : ")
inspect_radar_metadata(gmo_buffer=data)
return True
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LOG :
2025-12-12T05:33:16Z [150,553ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:enabled -
Error in 'pxrInternal_v0_24__pxrReserved_::UsdStage::SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:enabled>’
2025-12-12T05:33:17Z [150,753ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:enabled -
Error in 'pxrInternal_v0_24__pxrReserved::UsdStage::SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:enabled>’
2025-12-12T05:33:17Z [150,768ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:enabled -
Error in 'pxrInternal_v0_24__pxrReserved::UsdStage::SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:enabled>’
2025-12-12T05:33:17Z [150,790ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:enabled -
Error in 'pxrInternal_v0_24__pxrReserved::UsdStage::SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:enabled>’
2025-12-12T05:33:17Z [150,811ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:enabled -
Error in 'pxrInternal_v0_24__pxrReserved::UsdStage::SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:enabled>’
2025-12-12T05:33:17Z [150,861ms] [Warning] [omni.sensors.nv.radar.wpm_dmatapprox.plugin] WPM DmatApprox Radar: Material mapping is not accessible. Running without materials will not produce correct results.
2025-12-12T05:33:17Z [151,146ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:simTimesToWrite -
Error in 'pxrInternal_v0_24__pxrReserved::UsdStage::SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:simTimesToWrite>’
2025-12-12T05:33:17Z [151,197ms] [Warning] [omni.graph.core.impl.utils] Could not sync USD on attribute inputs:simTimesToWrite -
Error in 'pxrInternal_v0_24__pxrReserved::UsdStage::_SetValueImpl’ at line 6702 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Empty typeName for </Render/PostProcess/SDGPipeline/DispatchSync.inputs:simTimesToWrite>’
2025-12-12T05:33:17Z [151,214ms] [Warning] [omni.timeline.plugin] Deprecated: direct use of ITimeline callbacks is deprecated. Use ITimeline::getTimeline (Python: omni.timeline.get_timeline_interface) instead.
2025-12-12T05:33:17Z [151,248ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] Annotator Data :
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] [79 77 71 … 0 0 0]
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] numElements
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] 1
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] x
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] [3.497689]
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] y
2025-12-12T05:33:17Z [151,249ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] [8.944679]
2025-12-12T05:33:17Z [151,250ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] z
2025-12-12T05:33:17Z [151,250ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] [2.6893032]
2025-12-12T05:33:17Z [151,250ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] scalar
2025-12-12T05:33:17Z [151,250ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] [-10.439983]
2025-12-12T05:33:17Z [151,250ms] [Warning] [new.sensor.radar.ogn.python.nodes.OgnNewSensorRadarPy] sensorID
2025-12-12T05:33:18Z [0ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash] A crash has occurred. If a debugger should be attached, please set the ‘/crashreporter/debuggerAttachTimeoutMs’ setting to a timeout in milliseconds. This can be used to allow the crash reporter to wait for up to that long for a debugger to attach before processing or sending the crash report.
2025-12-12T05:33:49Z [30,355ms] [Warning] [carb.crashreporter-breakpad.plugin] … waiting for PID 2111376 to exit …
2025-12-12T05:34:19Z [60,662ms] [Warning] [carb.crashreporter-breakpad.plugin] … waiting for PID 2111376 to exit …
2025-12-12T05:34:49Z [90,998ms] [Warning] [carb.crashreporter-breakpad.plugin] … waiting for PID 2111376 to exit …
2025-12-12T05:35:20Z [121,298ms] [Warning] [carb.crashreporter-breakpad.plugin] … waiting for PID 2111376 to exit …
Note: For Isaac Sim support, the community is gradually transitioning from this forum to the Isaac Sim GitHub repository so that questions and issues can be tracked, searched, and resolved more efficiently in one place. Whenever possible, please create a GitHub Discussion or Issue there instead of starting a new forum topic.
Thanks for sharing the code and log details.
The crash you are seeing with get_gmo_data looks like a separate issue from the original question about radar velocity and annotators. To keep this topic focused and to help engineering track the crash properly, could you please open a new discussion in the Isaac Sim GitHub repository with your script, steps to reproduce, and the full log/crash details?
You can then link this forum topic in that GitHub discussion for reference. This will make it easier for the team to find the previous context here.