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Add RTX Lidar Sensor #1372

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Add RTX Lidar Sensor #1372

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8be3ca4
initial lidar
jtigue-bdai Oct 30, 2024
c4eaecd
add optional output data configuration
jtigue-bdai Oct 31, 2024
f7f8309
fix offset pose propogation
jtigue-bdai Oct 31, 2024
fe8f20e
add transform offset test, formatting
jtigue-bdai Oct 31, 2024
92dd0ee
custom lidar configs enabled and tested
jtigue-bdai Nov 4, 2024
c47c440
adds test files
jtigue-bdai Nov 5, 2024
ec63819
move omni.isaac.sensor dependancy addition to kit file
jtigue-bdai Nov 5, 2024
090dc66
test passing for custom lidar json configs
jtigue-bdai Nov 5, 2024
80e0f36
add another directory to search for custom configs
jtigue-bdai Nov 5, 2024
5ca61a1
formatting
jtigue-bdai Nov 5, 2024
7f28f63
add to docstrings
jtigue-bdai Nov 15, 2024
05f1fd1
more docstrings
jtigue-bdai Nov 15, 2024
57507f7
format
jtigue-bdai Nov 15, 2024
3f2c30e
more docstrings for config
jtigue-bdai Nov 15, 2024
d51f5e6
reset test to be headless;
jtigue-bdai Nov 15, 2024
241080f
fix delete structure
jtigue-bdai Nov 15, 2024
f10da08
add to docs and update changelog
jtigue-bdai Nov 21, 2024
c32e1da
format
jtigue-bdai Nov 21, 2024
af32e64
Update source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/rtx_li…
kellyguo11 Dec 16, 2024
d25c7f5
Update source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/rtx_li…
kellyguo11 Dec 16, 2024
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16 changes: 16 additions & 0 deletions docs/source/api/lab/omni.isaac.lab.sensors.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,8 @@
RayCasterCameraCfg
Imu
ImuCfg
RtxLidar
RtxLidarCfg

Sensor Base
-----------
Expand Down Expand Up @@ -166,3 +168,17 @@ Inertia Measurement Unit
:inherited-members:
:show-inheritance:
:exclude-members: __init__, class_type

RTX LidarCfg
------------

.. autoclass:: RtxLidar
:members:
:inherited-members:
:show-inheritance:

.. autoclass:: RtxLidarCfg
:members:
:inherited-members:
:show-inheritance:
:exclude-members: __init__, class_type
5 changes: 5 additions & 0 deletions source/apps/isaaclab.python.headless.rendering.kit
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Expand Up @@ -19,6 +19,7 @@ keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
"isaaclab.python.headless" = {}
"omni.replicator.core" = {}
"omni.replicator.isaac" = {}
"omni.isaac.sensor" = {}

# Rendering
"omni.kit.material.library" = {}
Expand Down Expand Up @@ -80,6 +81,10 @@ app.vulkan = true
# disable replicator orchestrator for better runtime perf
exts."omni.replicator.core".Orchestrator.enabled = false

# move the default lidar config file paths
app.sensors.nv.lidar.profileBaseFolder.'++' = [
"${app}/../extensions/omni.isaac.lab/omni/isaac/lab/sensors/rtx_lidar/"]

[settings.exts."omni.kit.registry.nucleus"]
registries = [
{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/shared" },
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4 changes: 4 additions & 0 deletions source/apps/isaaclab.python.rendering.kit
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Expand Up @@ -77,6 +77,10 @@ app.audio.enabled = false
# disable replicator orchestrator for better runtime perf
exts."omni.replicator.core".Orchestrator.enabled = false

# move the default lidar config file paths
app.sensors.nv.lidar.profileBaseFolder.'++' = [
"${app}/../extensions/omni.isaac.lab/omni/isaac/lab/sensors/rtx_lidar/"]

[settings.physics]
updateToUsd = false
updateParticlesToUsd = false
Expand Down
2 changes: 1 addition & 1 deletion source/extensions/omni.isaac.lab/config/extension.toml
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Expand Up @@ -2,7 +2,7 @@

# Note: Semantic Versioning is used: https://semver.org/

version = "0.27.7"
version = "0.28.0"

# Description
title = "Isaac Lab framework for Robot Learning"
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11 changes: 11 additions & 0 deletions source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
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Expand Up @@ -2,6 +2,17 @@ Changelog
---------


0.28.0 (2024-10-28)
~~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added :class:`omni.isaac.lab.sensors.RTXLidar` sensor integration
* Added :class:`omni.isaac.lab.sensors.RTXLidarCfg` and :class:`omni.isaac.lab.sensors.RTXLidarData` configuration and data classes
* Added :meth:`sim/spawn/sensors/sensors/spawn_lidar` and :class:`sim/spawn/sensors/sensors_cfg/LidarCfg` functionality for spawning both builtin and custom lidar models


0.27.7 (2024-10-28)
~~~~~~~~~~~~~~~~~~~

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8 changes: 8 additions & 0 deletions source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/rtx_lidar/__init__.py
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@@ -0,0 +1,8 @@
# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

from .rtx_lidar import RtxLidar
from .rtx_lidar_cfg import RtxLidarCfg
from .rtx_lidar_data import RTX_LIDAR_INFO_FIELDS, RtxLidarData
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