Add RTX Lidar Sensor #1372
Add RTX Lidar Sensor #1372
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jtigue-bdai
added
enhancement
jtigue-bdai
requested review from
jsmith-bdai,
Dhoeller19,
kellyguo11,
Mayankm96,
pascal-roth and
hhansen-bdai
as code owners
| # lazy allocation of data dictionary | ||
| # since the size of the output data is not known in advance, we leave it as None | ||
| # the memory will be allocated when the buffer() function is called for the first time. | ||
| self._data.output = TensorDict({}, batch_size=self._view.count, device=self.device) |
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is TensorDict necessary here? we had a change that went in to remove TensorDict from the tiled camera class because it was causing performance issues
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Yeah I bet we can remove it, just following the camera and tiled_camera patterns.
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Hey I just checked both tiled_camera and camera use TensorDict for data.output. Did the change you mentioned go into the Nvidia internal fork?
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hmm I think it was updated in #1348
source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/rtx_lidar/rtx_lidar.py
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| class OffsetCfg: | ||
| """The offset pose of the sensor's frame from the sensor's parent frame.""" | ||
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| pos: tuple[float, float, float] = (0.0, 0.0, 1.0) |
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why (0, 0, 1) instead of (0, 0, 0)?
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good catch I was using that during manual testing
source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/rtx_lidar/rtx_lidar_data.py
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| env_ids = self._ALL_INDICES | ||
| # reset the data | ||
| # note: this recomputation is useful if one performs events such as randomizations on the camera poses. | ||
| # self._update_poses(env_ids) |
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would it still make sense to do this call?
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@jtigue-bdai will you get a chance to look into this one today? I can also try to get this one merged in. |
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I don't think I will be able to get to it today. |
…dar/rtx_lidar.py Signed-off-by: Kelly Guo <[email protected]>
…dar/rtx_lidar_data.py Signed-off-by: Kelly Guo <[email protected]>
Description
This PR creates a sensor based on the RTX Lidar:
Fixes #865
Type of change
Screenshots
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Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there