isaac sim增加雷达传感器

代码

# provides the core omniverse APIs
import omni
# used to run sample asynchronously to not block rendering thread
import asyncio
# import the python bindings to interact with Lidar sensor
from isaacsim.sensors.physx import _range_sensor
# pxr usd imports used to create cube
from pxr import UsdGeom, Gf, UsdPhysics

stage = omni.usd.get_context().get_stage()
lidarInterface = _range_sensor.acquire_lidar_sensor_interface()
timeline = omni.timeline.get_timeline_interface()
omni.kit.commands.execute('AddPhysicsSceneCommand',stage = stage, path='/World/PhysicsScene')
lidarPath = "/LidarName"
result, prim = omni.kit.commands.execute(
            "RangeSensorCreateLidar",
            path=lidarPath,
            parent="/World",
            min_range=0.4,
            max_range=100.0,
            draw_points=False,
            draw_lines=True,
            horizontal_fov=360.0,
            vertical_fov=30.0,
            horizontal_resolution=0.4,
            vertical_resolution=4.0,
            rotation_rate=0.0,
            high_lod=False,
            yaw_offset=0.0,
            enable_semantics=False
        )

CubePath = "/World/CubeName"
cubeGeom = UsdGeom.Cube.Define(stage, CubePath)
cubePrim = stage.GetPrimAtPath(CubePath)
cubeGeom.AddTranslateOp().Set(Gf.Vec3f(2.0, 0.0, 0.0))
cubeGeom.CreateSizeAttr(1)
collisionAPI = UsdPhysics.CollisionAPI.Apply(cubePrim)
async def get_lidar_param():
    await omni.kit.app.get_app().next_update_async()
    timeline.pause()
    depth = lidarInterface.get_linear_depth_data("/World"+lidarPath)
    zenith = lidarInterface.get_zenith_data("/World"+lidarPath)
    azimuth = lidarInterface.get_azimuth_data("/World"+lidarPath)
    print("depth", depth)
    print("zenith", zenith)
    print("azimuth", azimuth)
timeline.play()
asyncio.ensure_future(get_lidar_param())

运行

菜单：windows/script edit，打开文件，然后点击运行
或者：./isaac-sim.old_streaming.sh -e lidar.py