[core]
reloadable = true
order = 0
[package]
version = "13.6.3"
category = "Simulation"
title = "Isaac Sim Isaac Sensor Simulation"
description = "Provides APIs for RTX-based sensors, including RTX Lidar & RTX Radar."
authors = ["NVIDIA"]
repository = ""
keywords = ["isaac", "physics", "robotics"]
changelog = "docs/CHANGELOG.md"
readme = "docs/README.md"
preview_image = "data/preview.png"
icon = "data/icon.png"
writeTarget.kit = true
[dependencies]
"isaacsim.core.api" = {}
"isaacsim.core.deprecation_manager" = {}
"isaacsim.core.nodes" = {}
"isaacsim.gui.components" = {}
"isaacsim.util.debug_draw" = {}
"omni.graph.action" = {}
"omni.graph" = {}
"isaacsim.storage.native" = {}
"omni.kit.numpy.common" = {}
"omni.kit.pip_archive" = {} # pulls in numpy
"omni.replicator.core" = {}
"omni.sensors.nv.common" = {}
"omni.sensors.nv.ids" = {}
"omni.sensors.nv.lidar" = {}
"omni.sensors.nv.radar" = {}
"omni.sensors.tiled" = {}
"omni.syntheticdata" = {}
"omni.timeline" = {} # Needed for simulation to occur
"isaacsim.robot.schema" = {}
"omni.usd" = {} # needed for call to add aov
"usdrt.scenegraph" = {}
[[python.module]]
name = "isaacsim.sensors.rtx"
[[python.module]]
name = "isaacsim.sensors.rtx.tests"
public = false
[[native.plugin]]
path = "bin/*.plugin"
recursive = false
[settings]
app.sensors.nv.lidar.profileBaseFolder=[
"${omni.sensors.nv.common}/data/lidar/",
"${isaacsim.sensors.rtx}/data/lidar_configs/HESAI/",
"${isaacsim.sensors.rtx}/data/lidar_configs/NVIDIA/",
"${isaacsim.sensors.rtx}/data/lidar_configs/Ouster/OS0/",
"${isaacsim.sensors.rtx}/data/lidar_configs/Ouster/OS1/",
"${isaacsim.sensors.rtx}/data/lidar_configs/Ouster/OS2/",
"${isaacsim.sensors.rtx}/data/lidar_configs/SICK/",
"${isaacsim.sensors.rtx}/data/lidar_configs/SLAMTEC/",
"${isaacsim.sensors.rtx}/data/lidar_configs/Velodyne/",
"${isaacsim.sensors.rtx}/data/lidar_configs/ZVISION/",
"${isaacsim.sensors.rtx}/data/lidar_configs/Unitree/",
"${app}/../exts/omni.isaac.sensor/data/lidar_configs/Unitree/",
"${isaacsim.sensors.rtx}/data/lidar_configs/"]
# app.sensors.nv.lidar.outputBufferOnGPU = true
app.sensors.nv.lidar.auxDataOutput = "EXTRA"
app.sensors.nv.lidar.enableVelocity = true
app.sensors.nv.radar.auxDataOutput = "EXTRA"
app.sensors.nv.radar.runWithoutMBVH = false
rtx.rtxsensor.coordinateFrameQuaternion = "0.0,0.0,0.0,1.0"
# sensor material mapping is hard coded for now, and this is needed to enable sensor materials.
rtx.materialDb.rtSensorNameToIdMap="DefaultMaterial:0;AsphaltStandardMaterial:1;AsphaltWeatheredMaterial:2;VegetationGrassMaterial:3;WaterStandardMaterial:4;GlassStandardMaterial:5;FiberGlassMaterial:6;MetalAlloyMaterial:7;MetalAluminumMaterial:8;MetalAluminumOxidizedMaterial:9;PlasticStandardMaterial:10;RetroMarkingsMaterial:11;RetroSignMaterial:12;RubberStandardMaterial:13;SoilClayMaterial:14;ConcreteRoughMaterial:15;ConcreteSmoothMaterial:16;OakTreeBarkMaterial:17;FabricStandardMaterial:18;PlexiGlassStandardMaterial:19;MetalSilverMaterial:20"
renderer.raytracingMotion.enabled=true
[[test]]
timeout = 900
dependencies = [
"omni.hydra.rtx",
]
stdoutFailPatterns.exclude = [
# This is excluded in at least 3 kit tests.
"*Missing call to destroyResourceBindingSignature()*",
'*Error processing node attribute `outputs:pointInstanceDataType`: dataType attribute is empty*'
]
args = [
'--/persistent/isaac/asset_root/default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"',
"--/app/asyncRendering=0",
"--/app/asyncRenderingLowLatency=0",
"--/app/fastShutdown=1",
"--/app/file/ignoreUnsavedOnExit=1",
"--/app/hydraEngine/waitIdle=0",
"--/app/renderer/skipWhileMinimized=0",
"--/app/renderer/sleepMsOnFocus=0",
"--/app/renderer/sleepMsOutOfFocus=0",
"--/app/settings/fabricDefaultStageFrameHistoryCount=3",
"--/app/settings/persistent=0",
"--/app/viewport/createCameraModelRep=0",
"--/crashreporter/skipOldDumpUpload=1",
"--/omni/kit/plugin/syncUsdLoads=1",
"--/omni/replicator/asyncRendering=0",
'--/persistent/app/stage/upAxis="Z"',
"--/persistent/app/viewport/defaults/tickRate=120",
"--/persistent/app/viewport/displayOptions=31951",
"--/persistent/omni/replicator/captureOnPlay=1",
"--/persistent/omnigraph/updateToUsd=0",
"--/persistent/physics/visualizationDisplayJoints=0",
"--/persistent/renderer/startupMessageDisplayed=1",
"--/persistent/simulation/defaultMetersPerUnit=1.0",
"--/persistent/simulation/minFrameRate=15",
"--/renderer/multiGpu/autoEnable=0",
"--/renderer/multiGpu/enabled=0",
"--/rtx-transient/dlssg/enabled=0",
"--/'rtx-transient'/resourcemanager/enableTextureStreaming=1",
"--/rtx/descriptorSets=360000",
"--/rtx/hydra/enableSemanticSchema=1",
"--/rtx/hydra/materialSyncLoads=1",
"--/rtx/materialDb/syncLoads=1",
"--/rtx/newDenoiser/enabled=1",
"--/rtx/reservedDescriptors=900000",
'--/exts/omni.usd/locking/onClose=0',
"--vulkan",
]
[[test]]
name = "startup"
args = [
'--/app/settings/fabricDefaultStageFrameHistoryCount = 3',
]
