Sensor Assets#

Omniverse Isaac Sim also supports many realistic sensors modules, such as stereo cameras, Lidars, and more. They can be found in omniverse://localhost/NVIDIA/Assets/Isaac/4.2, which is referred to as [Isaac Sim Assets Path] below.

PhysX Lidar#

More information about PhysX Lidar can be found here.

  • To create a rotating PhysX lidar: Create>Isaac>Sensors>PhysX Lidar>Rotating.

  • To create a non-rotating, generic PhysX lidar: Create>Isaac>Sensors>PhysX Lidar>Generic.

Ultrasonic Sensor#

More information about ultrasonic sensors can be found here.

  • To create an ultrasonic sensor array: Create>Isaac>Sensors>Ultrasonic>Array.

  • To create an ultrasonic emitter: Create>Isaac>Sensors>Ultrasonic>Emitter.

  • To create an ultrasonic firing group: Create>Isaac>Sensors>Ultrasonic>Firing Group.

Contact Sensor#

More information about contact sensors, including how to create them from the GUI, can be found here.

IMU Sensor#

More information about IMU sensors, including how to create them from the GUI, can be found here.

Lightbeam Sensor#

More information about lightbeam sensors, including how to create them from the GUI, can be found here.

Camera and Depth Sensors#

Leopard Imaging#

Hawk Stereo Camera#

The Hawk Stereo Camera (LI-AR0234CS-STEREO-GMSL2-30) from Leopard Imaging consists of two OnSemi AR0234CS RGB image sensors and a 6-axis IMU, both are simulated in the Omniverse Isaac Sim.

Hawk Sensor

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>LeopardImaging>Hawk#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/LeopardImaging/Hawk/hawk_v1.1_nominal.usd

Features and Specification
Camera Features#

name

camera_left

camera_right

focalLength

2.8734347820281982

2.8779797554016113

focusDistance

0.6000000238418579

0.6000000238418579

fStop

240.0

240.0

projection

perspective

perspective

stereoRole

left

right

horizontalAperture

5.760000228881836

5.760000228881836

verticalAperture

3.5999999046325684

3.5999999046325684

clippingRange

(0.076, 100000)

(0.076, 100000)

cameraProjectionType

fisheyePolynomial

fisheyePolynomial

nominalWidth

1920.0

1920.0

nominalHeight

1200.0

1200.0

opticalCenterX

957.85107421875

954.709228515625

opticalCenterY

589.5376586914062

588.3735961914062

maxFOV

150.0

150.0

polyK0

5.0055230531143025e-05

8.962746505858377e-05

polyK1

0.0010426010703667998

0.001039923052303493

polyK2

9.85131620723223e-09

1.502240820627776e-08

polyK3

1.6426542417957712e-11

5.982795422271314e-12

polyK4

2.9886398802796144e-14

3.6818906078281075e-14

polyK5

0.0

0.0

p0

-0.00037

-0.00037

p1

-0.00074

-0.00074

s0

-0.00058

-0.00058

s1

-0.00022

-0.00022

s2

0.00019

0.00019

s3

-0.0002

-0.0002

physicalDistortionCoefficients

[0.147811, -0.032313, -0.000194, -0.000035, 0.008823, 0.517913, -0.06708, 0.01695]

[6.815791, 5.172144, -0.000246, -0.000128, 0.353267, 7.180808, 7.640372, 1.596375]

physicalDistortionModel

rational_polynomial

rational_polynomial

Other Features

  • Waterproof: IP65

  • Dimensions: 180 mm (length) by 44.33 mm (depth) by 25.0 mm (height)

  • Operating Temperature: -20C to 50C

IMU to Hawk sensor (left camera) transformation in Isaac Sim
IMU Sensor transformation#

Transformation

x

y

z

Rotation (degrees)

0.0

90

0.0

Translation (meters)

0.0

-0.0947

0.0061

Note

For the datasheet and full list of specifications, visit the Hawk stereo camera product page and purchase here.

Owl Fisheye camera#

The Owl camera (LI-AR0234CS-GMSL2-OWL) from Leopard Imaging consists of a 2.3MP OnSemi AR0234CS RGB image sensor, capable of producing crisp images in low-light and bright scenes.

Owl Sensor

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>LeopardImaging>Owl#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/LeopardImaging/Owl/owl.usd

Features and Specification
Camera Features#

name

camera

focalLength

1.3646053075790405

focusDistance

0.6000000238418579

fStop

180.0

projection

perspective

stereoRole

mono

horizontalAperture

5.760000228881836

verticalAperture

3.5999999046325684

clippingRange

(0.076, 100000)

cameraProjectionType

fisheyePolynomial

nominalWidth

1920.0

nominalHeight

1200.0

opticalCenterX

943.99462890625

opticalCenterY

602.3110961914062

maxFOV

235.0

polyK0

0.0002725422091316432

polyK1

0.0021866457536816597

polyK2

1.2340817079348199e-07

polyK3

-1.079574096785052e-09

polyK4

5.997452426180494e-13

polyK5

0.0

p0

-0.00037

p1

-0.00074

s0

-0.00058

s1

-0.00022

s2

0.00019

s3

-0.0002

physicalDistortionCoefficients

[0.057225, 0.012671, -0.002978, -0.000472]

physicalDistortionModel

kannalaBrandt

Other Features

  • Dimensions: 50 mm (length) by 37.63 mm (depth) by 25.0 mm (height)

  • Operating Temperature: -20C to 50C

Note

For full list of specifications, visit the product page ,and the owl cameras can be purchased here.

Intel#

Intel Realsense D455#

The Intel Realsense Depth Camera D455 consists of multiple RGB and depth image sensors and a 6-axis IMU, simulated in Omniverse Isaac Sim.

Intel Realsense Sensor

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>Intel>Intel Realsense D455#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/intel/RealSense/rsd455.usd

Features and Specification
Camera Features#

name

Camera_Pseudo_Depth

Camera_OmniVision_OV9782_Color

Camera_OmniVision_OV9782_Left

Camera_OmniVision_OV9782_Right

focalLength

1.9299999475479126

1.9299999475479126

1.9299999475479126

1.9299999475479126

focusDistance

0.6000000238418579

0.5

0.5

0.5

fStop

2.0

2.0

2.0

2.0

projection

perspective

perspective

perspective

perspective

stereoRole

mono

mono

left

right

horizontalAperture

3.8959999084472656

3.8959999084472656

3.8959999084472656

3.8959999084472656

verticalAperture

2.453000068664551

2.453000068664551

2.453000068664551

2.453000068664551

clippingRange

(0.01, 1000000)

(0.01, 1000000)

(0.01, 1000000)

(0.01, 1000000)

cameraProjectionType

fisheyeEquidistant

fisheyeEquidistant

fisheyeEquidistant

fisheyeEquidistant

nominalWidth

1936.0

1936.0

1936.0

1936.0

nominalHeight

1216.0

1216.0

1216.0

1216.0

opticalCenterX

970.94244

970.94244

970.94244

970.94244

opticalCenterY

600.37482

600.37482

600.37482

600.37482

maxFOV

100.5999984741211

98.0

98.0

98.0

polyK0

0.0

0.0

0.0

0.0

polyK1

0.00245

0.00245

0.00245

0.00245

polyK2

0.0

0.0

0.0

0.0

polyK3

0.0

0.0

0.0

0.0

polyK4

0.0

0.0

0.0

0.0

polyK5

0.0

0.0

0.0

0.0

p0

-0.00037

-0.00037

-0.00037

-0.00037

p1

-0.00074

-0.00074

-0.00074

-0.00074

s0

-0.00058

-0.00058

-0.00058

-0.00058

s1

-0.00022

-0.00022

-0.00022

-0.00022

s2

0.00019

0.00019

0.00019

0.00019

s3

-0.0002

-0.0002

-0.0002

-0.0002

physicalDistortionCoefficients

Not Applicable

Not Applicable

Not Applicable

Not Applicable

physicalDistortionModel

Not Applicable

Not Applicable

Not Applicable

Not Applicable

Other Features

  • Dimensions: 124 mm (length) by 25 mm (depth) by 29 mm (height)

  • IMU: Bosch BM1055

  • Ideal Range: 0.6m to 6m

  • Minimum Depth Distance at Max resolution: 52cm

  • Depth accuracy: under 2% at 4m

IMU to RealSense transformation in Isaac Sim
IMU Sensor transformation#

Transformation

x

y

z

Rotation (degrees)

0.0

0.0

0.0

Translation (meters)

0.016

-0.01728

0.0074

Note

For the datasheet and full list of specifications, visit the D455 product page.

Orbbec#

Orbbec Gemini 2 (Certified by Orbbec)#

The Orbbec Gemini 2 is a depth camera based on Active Stereo IR technolgy.

Orbbec Gemini 2

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>Orbbec>Orbbec Gemini 2#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Orbbec/Gemini 2/orbbec_gemini2_V1.0.usd

Features and Specification
Camera Features#

name

Stream_rgb

Stream_depth

Stream_ir_left

Stream_ir_right

focalLength

2.9700000286102295

1.809999942779541

1.809999942779541

1.809999942779541

focusDistance

80.0

45.0

45.0

45.0

fStop

0.0

0.0

0.0

0.0

projection

perspective

perspective

perspective

perspective

stereoRole

mono

mono

left

right

horizontalAperture

5.539000034332275

3.619999885559082

3.880000114440918

3.880000114440918

verticalAperture

3.0920000076293945

2.440000057220459

2.440000057220459

2.440000057220459

clippingRange

(0.005, 1000)

(0.005, 1000)

(0.005, 1000)

(0.005, 1000)

cameraProjectionType

pinhole

pinhole

pinhole

pinhole

nominalWidth

1936.0

1936.0

1936.0

1936.0

nominalHeight

1216.0

1216.0

1216.0

1216.0

opticalCenterX

970.94244

970.94244

970.94244

970.94244

opticalCenterY

600.37482

600.37482

600.37482

600.37482

maxFOV

200.0

200.0

200.0

200.0

polyK0

0.0

0.0

0.0

0.0

polyK1

0.00245

0.00245

0.00245

0.00245

polyK2

0.0

0.0

0.0

0.0

polyK3

0.0

0.0

0.0

0.0

polyK4

0.0

0.0

0.0

0.0

polyK5

0.0

0.0

0.0

0.0

p0

-0.00037

-0.00037

-0.00037

-0.00037

p1

-0.00074

-0.00074

-0.00074

-0.00074

s0

-0.00058

-0.00058

-0.00058

-0.00058

s1

-0.00022

-0.00022

-0.00022

-0.00022

s2

0.00019

0.00019

0.00019

0.00019

s3

-0.0002

-0.0002

-0.0002

-0.0002

physicalDistortionCoefficients

Not Applicable

Not Applicable

Not Applicable

Not Applicable

physicalDistortionModel

Not Applicable

Not Applicable

Not Applicable

Not Applicable

Other Features

  • Dimensions: 90 mm (length) by 25 mm (depth) by 30 mm (height)

  • IMU supported with multi camera synchronization

  • Ideal Range: 0.15m to 10m

  • Depth accuracy: under 2% at 2m

Note

For the datasheet and full list of specifications, visit the Gemini 2 product page.

Orbbec Femto Mega (Certified by Orbbec)#

The Orbbec Femto Mega is a programmable multi-mode Depth and RGB camera.

Orbbec Femto Mega

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>Orbbec>Orbbec FemtoMega#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Orbbec/FemtoMega/orbbec_femtomega_v1.0.usd

Features and Specification
Camera Features#

name

camera_rgb

camera_tof_nfov

camera_tof_wfov

focalLength

3.25

1.690000057220459

1.690000057220459

focusDistance

150.0

44.0

44.0

fStop

0.0

0.0

0.0

projection

perspective

perspective

perspective

stereoRole

mono

mono

mono

horizontalAperture

5.449999809265137

2.5899999141693115

5.849999904632568

verticalAperture

3.0999999046325684

2.1500000953674316

5.849999904632568

clippingRange

(0.01, 1000000)

(0.01, 1000)

(0.01, 1000)

cameraProjectionType

pinhole

pinhole

pinhole

nominalWidth

1936.0

1936.0

1936.0

nominalHeight

1216.0

1216.0

1216.0

opticalCenterX

970.94244

970.94244

970.94244

opticalCenterY

600.37482

600.37482

600.37482

maxFOV

200.0

200.0

200.0

polyK0

0.0

0.0

0.0

polyK1

0.00245

0.00245

0.00245

polyK2

0.0

0.0

0.0

polyK3

0.0

0.0

0.0

polyK4

0.0

0.0

0.0

polyK5

0.0

0.0

0.0

p0

-0.00037

-0.00037

-0.00037

p1

-0.00074

-0.00074

-0.00074

s0

-0.00058

-0.00058

-0.00058

s1

-0.00022

-0.00022

-0.00022

s2

0.00019

0.00019

0.00019

s3

-0.0002

-0.0002

-0.0002

physicalDistortionCoefficients

Not Applicable

Not Applicable

Not Applicable

physicalDistortionModel

Not Applicable

Not Applicable

Not Applicable

Other Features

  • Dimensions: 115mm (length) by 145 mm (depth) by 40mm (height)

  • IMU supported

  • Ideal Range: 0.25m to 5.46m

  • Depth accuracy: under 11mm + 0.1% distance

Note

For the datasheet and full list of specifications, visit the Femto Mega product page.

Orbbec Gemini 335 (Certified by Orbbec)#

Orbbec Gemini 335

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>Orbbec>Orbbec Gemini 335#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Orbbec/Gemini335/orbbec_gemini_335.usd

Features and Specification
Camera Features#

name

Stream_rgb

Stream_ir_left

Stream_ir_right

focalLength

2.9700000286102295

1.809999942779541

1.809999942779541

focusDistance

80.0

45.0

45.0

fStop

0.0

0.0

0.0

projection

perspective

perspective

perspective

stereoRole

mono

right

left

horizontalAperture

5.539000034332275

3.880000114440918

3.880000114440918

verticalAperture

3.0920000076293945

2.440000057220459

2.440000057220459

clippingRange

(0.005, 1000)

(0.005, 1000)

(0.005, 1000)

cameraProjectionType

pinhole

pinhole

pinhole

nominalWidth

1936.0

1936.0

1936.0

nominalHeight

1216.0

1216.0

1216.0

opticalCenterX

970.94244

970.94244

970.94244

opticalCenterY

600.37482

600.37482

600.37482

maxFOV

200.0

200.0

200.0

polyK0

0.0

0.0

0.0

polyK1

0.00245

0.00245

0.00245

polyK2

0.0

0.0

0.0

polyK3

0.0

0.0

0.0

polyK4

0.0

0.0

0.0

polyK5

0.0

0.0

0.0

p0

-0.00037

-0.00037

-0.00037

p1

-0.00074

-0.00074

-0.00074

s0

-0.00058

-0.00058

-0.00058

s1

-0.00022

-0.00022

-0.00022

s2

0.00019

0.00019

0.00019

s3

-0.0002

-0.0002

-0.0002

physicalDistortionCoefficients

Not Applicable

Not Applicable

Not Applicable

physicalDistortionModel

Not Applicable

Not Applicable

Not Applicable

Orbbec Gemini 335L (Certified by Orbbec)#

Orbbec Gemini 335L

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>Orbbec>Orbbec Gemini 335L#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Orbbec/Gemini335L/orbbec_gemini_335L.usd

Features and Specification
Camera Features#

name

Camera_ir_left

Camera_ir_right

Camera_rgb

focalLength

1.809999942779541

1.809999942779541

1.809999942779541

focusDistance

45.0

45.0

0.44999998807907104

fStop

0.0

0.0

0.0

projection

perspective

perspective

perspective

stereoRole

mono

mono

mono

horizontalAperture

3.8399999141693115

3.8399999141693115

3.8399999141693115

verticalAperture

2.4000000953674316

2.4000000953674316

2.4000000953674316

clippingRange

(0.005, 100000)

(0.005, 100000)

(0.005, 100000)

cameraProjectionType

pinhole

pinhole

pinhole

nominalWidth

1936.0

1936.0

1936.0

nominalHeight

1216.0

1216.0

1216.0

opticalCenterX

970.94244

970.94244

970.94244

opticalCenterY

600.37482

600.37482

600.37482

maxFOV

200.0

200.0

200.0

polyK0

0.0

0.0

0.0

polyK1

0.00245

0.00245

0.00245

polyK2

0.0

0.0

0.0

polyK3

0.0

0.0

0.0

polyK4

0.0

0.0

0.0

polyK5

0.0

0.0

0.0

p0

-0.00037

-0.00037

-0.00037

p1

-0.00074

-0.00074

-0.00074

s0

-0.00058

-0.00058

-0.00058

s1

-0.00022

-0.00022

-0.00022

s2

0.00019

0.00019

0.00019

s3

-0.0002

-0.0002

-0.0002

physicalDistortionCoefficients

Not Applicable

Not Applicable

Not Applicable

physicalDistortionModel

Not Applicable

Not Applicable

Not Applicable

Sensing#

SG2-AR0233C-5200-G2A-H100F1A Camera (Certified by Sensing)#

SG2-AR0233C-5200-G2A-H100F1A from the SG2-AR0233C-5200-G2A-Hxxx Series is a megapixel high performance automotive camera module, primarily used for ADAS, HDR imaging functionalities.

H100F1A

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>Sensing>Sensing SG2-AR0233C-5200-G2A-H100F1A#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Sensing/SG2/H100F1A/SG2-AR0233C-5200-G2A-H100F1A.usd

Features and Specification
Camera Features#

name

SG2_AR0233C_5200_G2A_H100F1A_01

focalLength

3.549999952316284

focusDistance

270.0

fStop

1.600000023841858

projection

perspective

stereoRole

mono

horizontalAperture

5.760000228881836

verticalAperture

3.240000009536743

clippingRange

(1, 1000000)

cameraProjectionType

fisheyeOrthographic

nominalWidth

1920.0

nominalHeight

1080.0

opticalCenterX

998.0842895507812

opticalCenterY

520.5062866210938

maxFOV

100.0

polyK0

0.9293811321258545

polyK1

0.15743136405944824

polyK2

0.008131147362291813

polyK3

1.358112096786499

polyK4

0.4388065040111542

polyK5

0.035474397242069244

p0

-1.8616799934534356e-05

p1

-0.000114203299744986

s0

0.0

s1

0.0

s2

0.0

s3

0.0

physicalDistortionCoefficients

Not Applicable

physicalDistortionModel

Not Applicable

Other Features

  • Waterproof: IP67

  • Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)

  • Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG2-AR0233C-5200-G2A-Hxxx series product page.

SG2-OX03CC-5200-GMSL2F-H60YA Series Camera (Certified by Sensing)#

SG2-OX03CC-5200-GMSL2F-H60YA from the SG2-OX03CC-5200-GMSL2F-Hxxx Series is a megapixel high performance automotive camera module, primarily used for ADAS, HDR imaging functionalities.

H60YA

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>Sensing>Sensing SG2-OX03CC-5200-GMSL2F-H60YA#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Sensing/SG2/H60YA/Camera_SG2_OX03CC_5200_GMSL2_H60YA.usd

Features and Specification
Camera Features#

name

Camera_SG2_OX03CC_5200_GMSL2_H60YA

focalLength

5.75

focusDistance

700.0

fStop

1.600000023841858

projection

perspective

stereoRole

mono

horizontalAperture

5.760000228881836

verticalAperture

3.240000009536743

clippingRange

(0.1, 1000000)

cameraProjectionType

fisheyeOrthographic

nominalWidth

1920.0

nominalHeight

1080.0

opticalCenterX

959.595947265625

opticalCenterY

647.6140747070312

maxFOV

60.0

polyK0

0.7182272672653198

polyK1

60.113136291503906

polyK2

2.598527431488037

polyK3

1.1977670192718506

polyK4

60.394771575927734

polyK5

31.610383987426758

p0

0.0004008802934549749

p1

-0.0013344850158318877

s0

0.0

s1

0.0

s2

0.0

s3

0.0

physicalDistortionCoefficients

Not Applicable

physicalDistortionModel

Not Applicable

Other Features

  • Waterproof: IP67

  • Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)

  • Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG2-OX03CC-5200-GMSL2F-Hxxx series product page.

SG3-ISX031C-GMSL2F-H190XA (Certified by Sensing)#

SG3-ISX031C-GMSL2F-H190XA is a 3 megapixels automotive camera for automotive surround view.

H190XA

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>Sensing>Sensing SG3-ISX031C-GMSL2F-H190XA#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Sensing/SG3/H190XA/SG3S-ISX031C-GMSL2F-H190XA.usd

Features and Specification
Camera Features#

name

SG3S_ISX031C_GMSL2F_H190XA_01

focalLength

1.5099999904632568

focusDistance

39.0

fStop

2.0

projection

perspective

stereoRole

mono

horizontalAperture

5.760000228881836

verticalAperture

4.607999801635742

clippingRange

(1, 1000000)

cameraProjectionType

fisheyeEquidistant

nominalWidth

1920.0

nominalHeight

1536.0

opticalCenterX

960.6082153320312

opticalCenterY

768.0

maxFOV

190.0

polyK0

0.13215887546539307

polyK1

-0.031036589294672012

polyK2

-0.004391151946038008

polyK3

0.0018116832943633199

polyK4

0.0

polyK5

0.0

p0

0.0

p1

0.0

s0

0.0

s1

0.0

s2

0.0

s3

0.0

physicalDistortionCoefficients

Not Applicable

physicalDistortionModel

Not Applicable

Other Features

  • Waterproof: IP67

  • Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)

  • Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG3-ISX031C-GMSL2F-Hxxx series product page.

SG5-IMX490C-5300-GMSL2-H110SA (Certified by Sensing)#

SG5-IMX490C-5300-GMSL2-H110SA is a 5 megapixels automotive camera for automotive surround view, ADAS and viewing fusion.

H190SA

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>Sensing>Sensing SG5-IMX490C-5300-GMSL2-H110SA#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Sensing/SG5/H100SA/SG5-IMX490C-5300-GMSL2-H110SA.usd

Features and Specification
Camera Features#

name

Camera_SG5_IMX490C_5300_GMSL2_H110SA

focalLength

4.260000228881836

focusDistance

220.0

fStop

2.799999952316284

projection

perspective

stereoRole

mono

horizontalAperture

8.640000343322754

verticalAperture

5.579999923706055

clippingRange

(1, 1000000)

cameraProjectionType

fisheyeOrthographic

nominalWidth

2880.0

nominalHeight

1860.0

opticalCenterX

1442.3316650390625

opticalCenterY

926.6644287109375

maxFOV

110.0

polyK0

0.6106576919555664

polyK1

-0.11334560066461563

polyK2

-0.014692608267068863

polyK3

0.9237731099128723

polyK4

-0.011052233166992664

polyK5

-0.051484767347574234

p0

2.2259799152379856e-05

p1

-7.929380080895498e-05

s0

0.0

s1

0.0

s2

0.0

s3

0.0

physicalDistortionCoefficients

Not Applicable

physicalDistortionModel

Not Applicable

Other Features

  • Waterproof: IP67

  • Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)

  • Operating Temperature: -40C to 85C

  • Multi camera synchronization support

Note

For the datasheet and full list of specifications, visit the SG5-IMX490C-5300-GMSL2-Hxxx series product page.

SG8S-AR0820C-5300-G2A-H30YA Camera (Certified by Sensing)#

SG8S-AR0820C-5300-G2A-H30YA is a 4k high performance automotive grade camera that supports advanced on sensor HDR and multi-camera synchronization.

H30YA

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>Sensing>Sensing SG8S-AR0820C-5300-G2A-H30YA#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Sensing/SG8/H30SA/SG8S-AR0820C-5300-G2A-H30YA.usd

Features and Specification
Camera Features#

name

SG8S_AR0820C_5300_G2A_H30YA_01

focalLength

15.300000190734863

focusDistance

7070.0

fStop

1.600000023841858

projection

perspective

stereoRole

mono

horizontalAperture

8.064000129699707

verticalAperture

4.535999774932861

clippingRange

(1, 1000000)

cameraProjectionType

pinhole

nominalWidth

3840.0

nominalHeight

2160.0

opticalCenterX

1864.240478515625

opticalCenterY

986.3945922851562

maxFOV

30.0

polyK0

-0.6564998626708984

polyK1

-4.156541347503662

polyK2

245.6761932373047

polyK3

-0.43839189410209656

polyK4

-4.5701212882995605

polyK5

251.74969482421875

p0

-0.000658363220281899

p1

8.901000114747148e-07

s0

0.0

s1

0.0

s2

0.0

s3

0.0

physicalDistortionCoefficients

Not Applicable

physicalDistortionModel

Not Applicable

Other Features

  • Dimensions: 40 mm (length) by 23 mm (depth) by 40 mm (height)

  • Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG8-AR820C-5300-G2A-Hxxx series cameras product page.

SG8S-AR0820C-5300-G2A-H60SA Camera (Certified by Sensing)#

SG8S-AR0820C-5300-G2A-H60SA is a 4k high performance automotive grade camera that supports advanced on sensor HDR and multi-camera synchronization.

H60SA

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>Sensing>Sensing SG8S-AR0820C-5300-G2A-H60SA#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Sensing/SG8/H60SA/SG8S-AR0820C-5300-G2A-H60SA.usd

Features and Specification
Camera Features#

name

SG8S_AR0820C_5300_G2A_H60SA_01

focalLength

7.869999885559082

focusDistance

1670.0

fStop

1.7999999523162842

projection

perspective

stereoRole

mono

horizontalAperture

8.064000129699707

verticalAperture

4.535999774932861

clippingRange

(1, 1000000)

cameraProjectionType

fisheyeEquidistant

nominalWidth

3840.0

nominalHeight

2160.0

opticalCenterX

1919.1090087890625

opticalCenterY

1087.7274169921875

maxFOV

60.0

polyK0

0.8600332140922546

polyK1

-0.30780455470085144

polyK2

-0.05103735625743866

polyK3

1.5231009721755981

polyK4

0.0005489090108312666

polyK5

-0.25151902437210083

p0

6.143400241853669e-05

p1

-4.332419848651625e-05

s0

0.0

s1

0.0

s2

0.0

s3

0.0

physicalDistortionCoefficients

Not Applicable

physicalDistortionModel

Not Applicable

Other Features

  • Dimensions: 40 mm (length) by 23 mm (depth) by 40 mm (height)

  • Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG8-AR820C-5300-G2A-Hxxx series cameras product page.

SG8S-AR0820C-5300-G2A-H120YA Camera (Certified by Sensing)#

SG8S-AR0820C-5300-G2A-H120YA is a 4k high performance automotive grade camera that supports advanced on sensor HDR and multi-camera synchronization.

H120YA

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>Sensing>Sensing SG8S-AR0820C-5300-G2A-H120YA#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Sensing/SG8/H120YA/SG8S-AR0820C-5300-G2A-H120YA.usd

Features and Specification
Camera Features#

name

SG8S_AR0820C_5300_G2A_H120YA_01

focalLength

4.010000228881836

focusDistance

480.0

fStop

1.600000023841858

projection

perspective

stereoRole

mono

horizontalAperture

8.064000129699707

verticalAperture

4.535999774932861

clippingRange

(1, 1000000)

cameraProjectionType

fisheyeEquidistant

nominalWidth

3840.0

nominalHeight

2160.0

opticalCenterX

1919.1090087890625

opticalCenterY

1087.7274169921875

maxFOV

120.0

polyK0

0.8600332140922546

polyK1

-0.30780455470085144

polyK2

-0.05103735625743866

polyK3

1.5231009721755981

polyK4

0.0005489090108312666

polyK5

-0.25151902437210083

p0

6.143400241853669e-05

p1

-4.332419848651625e-05

s0

0.0

s1

0.0

s2

0.0

s3

0.0

physicalDistortionCoefficients

Not Applicable

physicalDistortionModel

Not Applicable

Other Features

  • Dimensions: 40 mm (length) by 23 mm (depth) by 40 mm (height)

  • Operating Temperature: -40C to 85C

Note

For the datasheet and full list of specifications, visit the SG8-AR820C-5300-G2A-Hxxx series cameras product page.

Stereolabs#

ZED X (Certified by Stereolabs)#

The ZED X Stereo Camera from Stereolabs consists of two 1200p 60fps RGB image sensors and a 6-axis IMU, all simulated in the Omniverse Isaac Sim.

Zed X Camera

To create the camera: Create>Isaac>Sensors>Camera and Depth Sensors>Stereolabs>ZED_X#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Stereolabs/ZED_X.usd

Features and Specification
Camera Features#

name

CameraLeft

CameraRight

focalLength

2.2079999446868896

2.2079999446868896

focusDistance

28.0

28.0

fStop

0.0

0.0

projection

perspective

perspective

stereoRole

left

right

horizontalAperture

5.760000228881836

5.760000228881836

verticalAperture

3.240000009536743

3.240000009536743

clippingRange

(0.01, 100000)

(0.01, 100000)

cameraProjectionType

pinhole

pinhole

nominalWidth

1936.0

1936.0

nominalHeight

1216.0

1216.0

opticalCenterX

970.94244

970.94244

opticalCenterY

600.37482

600.37482

maxFOV

200.0

200.0

polyK0

0.0

0.0

polyK1

0.00245

0.00245

polyK2

0.0

0.0

polyK3

0.0

0.0

polyK4

0.0

0.0

polyK5

0.0

0.0

p0

-0.00037

-0.00037

p1

-0.00074

-0.00074

s0

-0.00058

-0.00058

s1

-0.00022

-0.00022

s2

0.00019

0.00019

s3

-0.0002

-0.0002

physicalDistortionCoefficients

Not Applicable

Not Applicable

physicalDistortionModel

Not Applicable

Not Applicable

Other Features

  • Dimensions: 163.4 mm (length) by 31.8 mm (depth) by 36.7 mm (height)

  • Operating Temperature: -20C to 55C

IMU to ZED X transformation in Isaac Sim
IMU Sensor transformation#

Transformation

x

y

z

Rotation (degrees)

-90.0

0.0

0.0

Translation (meters)

0.06

-0.0

0.00185

Note

For the datasheet and full list of specifications, visit the ZED X datasheet, for usage in isaac sim, see Stereolabs Documentation.

Lidar Sensors#

Lidar sensors marked as “certified” have Lidar configuration files verified by the sensor manufacturer and tested before release.

NVIDIA#

There are four example Lidar configuration files that ship with Omniverse Isaac Sim. Note none of these Lidars have a mesh, so when they are created via the UI (see below), only a prim will appear in the Stage window.

  • Example_Rotary - a 10Hz rotary Lidar configuration. To create the sensor: Create>Isaac>Sensors>Rotating

  • Example_Solid_State - a solid state Lidar configuration. To create the sensor: Create>Isaac>Sensors>Solid_State

  • Debug_Rotary - a single emitter rotary Lidar configuration, used to debug simple rotary Lidar issues. To create the sensor: Create>Isaac>Sensors>NVIDIA>Debug_Rotary

  • Simple_Example_Solid_State - a simple 12-emitter solid state Lidar configuration, used to debug solid state Lidar issues. To create the sensor: Create>Isaac>Sensors>NVIDIA>Simple_Example_Solid_State

HESAI#

XT-32#

HESAI XT-32 is a high precision, 32 Channels 360 degrees spinning mid range Lidar.

XT-32

To create the sensor: Create>Isaac>Sensors>RTX Lidar>HESAI>XT-32 10hz#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/HESAI/XT-32.usd

Features and Specification
XT-32 Features#

name

XT-32 10hz

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

20000

numberOfEmitters

32

nearRangeM

0.05

farRangeM

120.0

rangeResolutionM

0.004

rangeAccuracyM

0.02

minDistBetweenEchos

0.05

minReflectance

0.1

minReflectanceRange

80.0

wavelengthNm

905.0

pulseTimeNs

10

azimuthErrorMean

0.0

azimuthErrorStd

0.015

elevationErrorMean

0.0

elevationErrorStd

0.0

maxReturns

2

Other Features

  • Dimensions: 100 mm (Top Diameter) by 103 mm (Bottom Diameter) by 76.0 mm (Height)

Note

For the datasheet and full list of specifications, visit the XT-32 product page.

Ouster#

OS0 128 Channels Lidar#

Ouster OS0 128 Channels Lidar is a high precision Lidar for autonomous vehilces, heavy machinery, robot and ampping solutions. Omniverse Isaac Sim has several pre-configured frequencies and resolutions that can be added to the stage easily.

Ouster OS0

To create the sensor: Create>Isaac>Sensors>RTX Lidar>OS0, then select the desired sensor configuration.#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Ouster/OS0

Features and Specification
OS0 REV6 128 10hz @ 512 resolution Features#

name

OS0 REV6 128 10hz @ 512 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

5120

numberOfEmitters

128

nearRangeM

0.3

farRangeM

50.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

20.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS0 REV6 128 10hz @ 1024 resolution Features#

name

OS0 REV6 128 10hz @ 1024 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

10240

numberOfEmitters

128

nearRangeM

0.3

farRangeM

50.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

20.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS0 REV6 128 10hz @ 2048 resolution Features#

name

OS0 REV6 128 10hz @ 2048 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

20480

numberOfEmitters

128

nearRangeM

0.3

farRangeM

50.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

20.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS0 REV6 128 20hz @ 512 resolution Features#

name

OS0 REV6 128 20hz @ 512 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

10240

numberOfEmitters

128

nearRangeM

0.3

farRangeM

50.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

20.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS0 REV6 128 20hz @ 1024 resolution Features#

name

OS0 REV6 128 20hz @ 1024 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

20480

numberOfEmitters

128

nearRangeM

0.3

farRangeM

50.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

20.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS0 REV7 128 10hz @ 512 resolution Features#

name

OS0 REV7 128 10hz @ 512 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

5120

numberOfEmitters

128

nearRangeM

0.5

farRangeM

75.0

rangeResolutionM

0.001

rangeAccuracyM

0.025

minReflectance

0.1

minReflectanceRange

35.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS0 REV7 128 10hz @ 1024 resolution Features#

name

OS0 REV7 128 10hz @ 1024 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

10240

numberOfEmitters

128

nearRangeM

0.5

farRangeM

75.0

rangeResolutionM

0.001

rangeAccuracyM

0.025

minReflectance

0.1

minReflectanceRange

35.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS0 REV7 128 10hz @ 2048 resolution Features#

name

OS0 REV7 128 10hz @ 2048 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

20480

numberOfEmitters

128

nearRangeM

0.5

farRangeM

75.0

rangeResolutionM

0.001

rangeAccuracyM

0.025

minReflectance

0.1

minReflectanceRange

35.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS0 REV7 128 20hz @ 512 resolution Features#

name

OS0 REV7 128 20hz @ 512 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

10240

numberOfEmitters

128

nearRangeM

0.5

farRangeM

75.0

rangeResolutionM

0.001

rangeAccuracyM

0.025

minReflectance

0.1

minReflectanceRange

35.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS0 REV7 128 20hz @ 1024 resolution Features#

name

OS0 REV7 128 20hz @ 1024 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

20480

numberOfEmitters

128

nearRangeM

0.5

farRangeM

75.0

rangeResolutionM

0.001

rangeAccuracyM

0.025

minReflectance

0.1

minReflectanceRange

35.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

Other Features

  • Rotation Rate: 10 or 20 hz (configurable)

  • Dimensions: 87 mm (Diameter) by 58.35 mm (Height). With thermal cap, height is 74.2 mm.

  • IMU supported: InvenSense IAM-20680HT

Note

For the datasheet and full list of specifications, visit the OS0 product page.

OS1 32/128 Channels Lidar#

Ouster OS1 32/128 Channels Lidar is a high precision Lidar for autonomous vehilces, heavy machinery, robot and ampping solutions. Omniverse Isaac Sim has several pre-configured frequencies and resolutions that can be added to the stage easily.

Ouster OS1

To create the sensor: Create>Isaac>Sensors>RTX Lidar>OS1, then select the desired sensor configuration.#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Ouster/OS1

Features and Specification
OS1 REV6 32 10hz @ 512 resolution Features#

name

OS1 REV6 32 10hz @ 512 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

5120

numberOfEmitters

32

nearRangeM

0.3

farRangeM

120.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

55.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV6 32 10hz @ 1024 resolution Features#

name

OS1 REV6 32 10hz @ 1024 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

10240

numberOfEmitters

32

nearRangeM

0.3

farRangeM

120.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

55.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV6 32 10hz @ 2048 resolution Features#

name

OS1 REV6 32 10hz @ 2048 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

20480

numberOfEmitters

32

nearRangeM

0.3

farRangeM

120.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

55.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV6 32 20hz @ 512 resolution Features#

name

OS1 REV6 32 20hz @ 512 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

10240

numberOfEmitters

32

nearRangeM

0.3

farRangeM

120.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

55.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV6 32 20hz @ 1024 resolution Features#

name

OS1 REV6 32 20hz @ 1024 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

20480

numberOfEmitters

32

nearRangeM

0.3

farRangeM

120.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

55.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV6 128 10hz @ 512 resolution Features#

name

OS1 REV6 128 10hz @ 512 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

5120

numberOfEmitters

128

nearRangeM

0.3

farRangeM

120.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

55.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV6 128 10hz @ 1024 resolution Features#

name

OS1 REV6 128 10hz @ 1024 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

10240

numberOfEmitters

128

nearRangeM

0.3

farRangeM

120.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

55.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV6 128 10hz @ 2048 resolution Features#

name

OS1 REV6 128 10hz @ 2048 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

20480

numberOfEmitters

128

nearRangeM

0.3

farRangeM

120.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

55.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV6 128 20hz @ 512 resolution Features#

name

OS1 REV6 128 20hz @ 512 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

10240

numberOfEmitters

128

nearRangeM

0.3

farRangeM

120.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

55.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV6 128 20hz @ 1024 resolution Features#

name

OS1 REV6 128 20hz @ 1024 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

20480

numberOfEmitters

128

nearRangeM

0.3

farRangeM

120.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

55.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV7 128 10hz @ 512 resolution Features#

name

OS1 REV7 128 10hz @ 512 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

5120

numberOfEmitters

128

nearRangeM

0.5

farRangeM

170.0

rangeResolutionM

0.001

rangeAccuracyM

0.025

minReflectance

0.1

minReflectanceRange

90.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV7 128 10hz @ 1024 resolution Features#

name

OS1 REV7 128 10hz @ 1024 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

10240

numberOfEmitters

128

nearRangeM

0.5

farRangeM

170.0

rangeResolutionM

0.001

rangeAccuracyM

0.025

minReflectance

0.1

minReflectanceRange

90.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV7 128 10hz @ 2048 resolution Features#

name

OS1 REV7 128 10hz @ 2048 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

20480

numberOfEmitters

128

nearRangeM

0.5

farRangeM

170.0

rangeResolutionM

0.001

rangeAccuracyM

0.025

minReflectance

0.1

minReflectanceRange

90.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV7 128 20hz @ 512 resolution Features#

name

OS1 REV7 128 20hz @ 512 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

10240

numberOfEmitters

128

nearRangeM

0.5

farRangeM

170.0

rangeResolutionM

0.001

rangeAccuracyM

0.025

minReflectance

0.1

minReflectanceRange

90.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS1 REV7 128 20hz @ 1024 resolution Features#

name

OS1 REV7 128 20hz @ 1024 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

20480

numberOfEmitters

128

nearRangeM

0.5

farRangeM

170.0

rangeResolutionM

0.001

rangeAccuracyM

0.025

minReflectance

0.1

minReflectanceRange

90.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

Other Features

  • Dimensions: 87 mm (Diameter) by 58.35 mm (Height). With thermal cap, height is 74.2 mm.

  • IMU supported: InvenSense IAM-20680HT

Note

For the datasheet and full list of specifications, visit the OS1 product page.

OS2 128 Channels Lidar#

Ouster OS2 32 Channels Lidar is a high precision Lidar for autonomous vehilces, heavy machinery, robot and ampping solutions. Omniverse Isaac Sim has several pre-configured frequencies and resolutions that can be added to the stage easily.

Ouster OS2

To create the sensor: Create>Isaac>Sensors>RTX Lidar>OS2, then select the desired sensor configuration.#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Ouster/OS2

Features and Specification
OS2 REV6 128 10hz @ 512 resolution Features#

name

OS2 REV6 128 10hz @ 512 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

5120

numberOfEmitters

128

nearRangeM

1.0

farRangeM

240.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

100.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS2 REV6 128 10hz @ 1024 resolution Features#

name

OS2 REV6 128 10hz @ 1024 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

10240

numberOfEmitters

128

nearRangeM

1.0

farRangeM

240.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

100.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS2 REV6 128 10hz @ 2048 resolution Features#

name

OS2 REV6 128 10hz @ 2048 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

20480

numberOfEmitters

128

nearRangeM

1.0

farRangeM

240.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

100.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS2 REV6 128 20hz @ 512 resolution Features#

name

OS2 REV6 128 20hz @ 512 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

10240

numberOfEmitters

128

nearRangeM

1.0

farRangeM

240.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

100.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS2 REV6 128 20hz @ 1024 resolution Features#

name

OS2 REV6 128 20hz @ 1024 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

20480

numberOfEmitters

128

nearRangeM

1.0

farRangeM

240.0

rangeResolutionM

0.001

rangeAccuracyM

0.03

minReflectance

0.1

minReflectanceRange

100.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS2 REV7 128 10hz @ 512 resolution Features#

name

OS2 REV7 128 10hz @ 512 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

5120

numberOfEmitters

128

nearRangeM

0.8

farRangeM

350.0

rangeResolutionM

0.001

rangeAccuracyM

0.02

minReflectance

0.1

minReflectanceRange

200.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS2 REV7 128 10hz @ 1024 resolution Features#

name

OS2 REV7 128 10hz @ 1024 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

10240

numberOfEmitters

128

nearRangeM

0.8

farRangeM

350.0

rangeResolutionM

0.001

rangeAccuracyM

0.02

minReflectance

0.1

minReflectanceRange

200.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS2 REV7 128 10hz @ 2048 resolution Features#

name

OS2 REV7 128 10hz @ 2048 resolution

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

20480

numberOfEmitters

128

nearRangeM

0.8

farRangeM

350.0

rangeResolutionM

0.001

rangeAccuracyM

0.02

minReflectance

0.1

minReflectanceRange

200.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS2 REV7 128 20hz @ 512 resolution Features#

name

OS2 REV7 128 20hz @ 512 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

10240

numberOfEmitters

128

nearRangeM

0.8

farRangeM

350.0

rangeResolutionM

0.001

rangeAccuracyM

0.02

minReflectance

0.1

minReflectanceRange

200.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

OS2 REV7 128 20hz @ 1024 resolution Features#

name

OS2 REV7 128 20hz @ 1024 resolution

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

20480

numberOfEmitters

128

nearRangeM

0.8

farRangeM

350.0

rangeResolutionM

0.001

rangeAccuracyM

0.02

minReflectance

0.1

minReflectanceRange

200.0

wavelengthNm

865.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.01

elevationErrorMean

0.0

elevationErrorStd

0.01

maxReturns

2

Other Features

  • Dimensions: 87 mm (Diameter) by 58.35 mm (Height). With thermal cap, height is 74.2 mm.

  • IMU supported: InvenSense IAM-20680HT

Note

For the datasheet and full list of specifications, visit the OS2 product page.

SICK#

microScan3 (Certified)#

SICK microScan3 is a rugged safety laser scanner by SICK.

SICK microScan 3

To create the sensor: Create>Isaac>Sensors>RTX Lidar>SICK>SICK microScan3 official#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/SICK/microScan3.usd

Features and Specification
microScan3 Features#

name

SICK microscan3 official

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

20.0

numberOfEmitters

2750

nearRangeM

0.05

farRangeM

64.0

rangeResolutionM

0.001

rangeAccuracyM

0.001

minReflectance

0.02

minReflectanceRange

9.0

wavelengthNm

845.0

pulseTimeNs

4

azimuthErrorMean

0.0

azimuthErrorStd

0.0

elevationErrorMean

0.0

elevationErrorStd

0.0

maxReturns

1

Other Features

  • Dimensions: 112 mm (Width) by 150.7 mm (Height) by 111.11 mm (Depth)

Note

For the datasheet and full list of specifications, visit the microScan3 product page.

TIM781 (certified)#

SICK TIM781 is an outdoor 2D Lidar system by SICK.

SICK TiM781 3

To create the sensor: Create>Isaac>Sensors>RTX Lidar>SICK>SICK TiM781#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/SICK/tim781.usd

Features and Specification
TIM781 Features#

name

SICK TiM781

type

lidar

scanRateBaseHz

15.0

reportRateBaseHz

15.0

numberOfEmitters

811

nearRangeM

0.05

farRangeM

25.0

rangeResolutionM

0.001

rangeAccuracyM

0.02

minReflectance

0.05

minReflectanceRange

5.0

wavelengthNm

850.0

pulseTimeNs

2.5

azimuthErrorMean

0.0

azimuthErrorStd

0.0

elevationErrorMean

0.0

elevationErrorStd

0.0

maxReturns

1

Other Features

  • Dimensions: 77 mm (Diameter) by 38.85 mm (Height)

  • Operating Temperature: -25C to 50C

Note

For the datasheet and full list of specifications, visit the TIM781 product page.

multiScan 136 (Certified)#

SICK multiScan 136 is a Lidar sensor simulated in Isaac Sim.

SICK multiScan136

To create the sensor: Create>Isaac>Sensors>RTX Lidar>SICK>SICK multiScan136#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/SICK/multiScan136.usd

Features and Specification
MultiScan 136 Features#

name

SICK multiScan136

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

20.0

numberOfEmitters

10800

nearRangeM

0.05

farRangeM

60.0

rangeResolutionM

0.001

rangeAccuracyM

0.02

minReflectance

0.1

minReflectanceRange

12.0

wavelengthNm

850.0

pulseTimeNs

2.5

azimuthErrorMean

0.0

azimuthErrorStd

0.0

elevationErrorMean

0.0

elevationErrorStd

0.0

maxReturns

1

Other Features

  • Dimensions: 60 mm (Diameter) by 82 mm (Height)

  • Operating Temperature: -33C to 50C

Note

For the datasheet and full list of specifications, visit the multiScan product page.

multiScan 165 (Certified)#

SICK multiScan 165 is a Lidar sensor simulated in Isaac Sim.

SICK multiScan165

To create the sensor: Create>Isaac>Sensors>RTX Lidar>SICK>SICK multiScan165#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/SICK/multiScan165.usd

Features and Specification
MultiScan 165 Features#

name

SICK multiScan165

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

20.0

numberOfEmitters

11520

nearRangeM

0.05

farRangeM

60.0

rangeResolutionM

0.001

rangeAccuracyM

0.02

minReflectance

0.1

minReflectanceRange

25.0

wavelengthNm

905.0

pulseTimeNs

1.2

azimuthErrorMean

0.0

azimuthErrorStd

0.0

elevationErrorMean

0.0

elevationErrorStd

0.0

maxReturns

1

Other Features

  • Dimensions: 60 mm (Diameter) by 82 mm (Height)

  • Operating Temperature: -33C to 50C

Note

For the datasheet and full list of specifications, visit the multiScan product page.

picoScan 150 (Certified)#

SICK picoScan 150 is a 2D Lidar simulated in Isaac Sim.

SICK picoScan150

To create the sensor: Create>Isaac>Sensors>RTX Lidar>SICK>SICK picoScan150#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/SICK/picoScan150.usd

Features and Specification
PicoScan 150 Features#

name

SICK picoScan150

type

lidar

scanRateBaseHz

20.0

reportRateBaseHz

20.0

numberOfEmitters

2761

nearRangeM

0.05

farRangeM

45.0

rangeResolutionM

0.001

rangeAccuracyM

0.01

minReflectance

0.1

minReflectanceRange

23.0

wavelengthNm

905.0

pulseTimeNs

1.2

azimuthErrorMean

0.0

azimuthErrorStd

0.0

elevationErrorMean

0.0

elevationErrorStd

0.0

maxReturns

1

Other Features

  • Dimensions: 100.3 mm (Diameter) by 98.5 mm (Height)

  • Operating Temperature: -33C to 50C

Note

For the datasheet and full list of specifications, visit the picoScan 150 product page.

SLAMTEC#

RPLIDAR S2E#

SLAMTEC RPLIDAR S2E is a low cost 360 degrees 2D laser scanner Lidar from SLAMTEC.

RPLIDAR S2E

To create the sensor: Create>Isaac>Sensors>RTX Lidar>SLAMTEC>RPLIDAR S2E#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Slamtec/RPLidar_S2e.usd

Features and Specification
RPLIDAR S2E Features#

name

RPLIDAR S2E

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

32000

numberOfEmitters

1

nearRangeM

0.05

farRangeM

30.0

rangeResolutionM

0.013

rangeAccuracyM

0.03

minDistBetweenEchos

0.05

minReflectance

0.1

minReflectanceRange

10.0

wavelengthNm

905.0

pulseTimeNs

5

azimuthErrorMean

0.0

azimuthErrorStd

0.0

elevationErrorMean

0.0

elevationErrorStd

0.0

maxReturns

1

Note

For the datasheet and full list of specifications, visit the RPLIDAR S2E product page.

Velodyne#

VLS-128#

Also known as Alpha Prime, Velodyne VLS-128 is a long range, ultra high resolution 3D Lidar for autonomous vehicles.

Velodyne VLS-128

To create the sensor: Create>Isaac>Sensors>RTX Lidar>Velodyne>Velodyne VLS-128#

Asset Path: [Isaac Sim Assets Path]/Isaac/Sensors/Velodyne/vls-128/vls_128.usd

Features and Specification
VLS-128 Features#

name

Velodyne VLS-128

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

18761

numberOfEmitters

128

nearRangeM

1.0

farRangeM

200.0

rangeResolutionM

0.004

rangeAccuracyM

0.02

minReflectance

0.1

minReflectanceRange

120.0

wavelengthNm

903.0

pulseTimeNs

6

maxReturns

2

Other Features

  • Dimensions: 165.5 mm (Diameter) by 141.3 mm (Height)

  • Operating Temperature: -20C to 60C

ZVISION#

ML-30s+ (Certified by Zvision)#

ZVISION ML-30s+ is a short range automotive grade solid state Lidar. Note there is no mesh for this lidar, so when it is created via the UI (see below), only a prim will appear in the Stage window.

To create the Lidar prim: Create>Isaac>Sensors>RTX Lidar>ZVISION>ML-30s+

Features and Specification
ML-30s+ Features#

name

ML-30s+

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

10

numberOfEmitters

51200

numberOfChannels

51200

nearRangeM

0.2

farRangeM

45.0

effectiveApertureSize

0.01

focusDistM

0.12

rangeResolutionM

0.03

rangeAccuracyM

0.03

minDistBetweenEchos

0.2

minReflectance

0.1

minReflectanceRange

270.0

wavelengthNm

905.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.025

elevationErrorMean

0.0

elevationErrorStd

0.025

maxReturns

2

Note

For the datasheet and full list of specifications, visit the ML-30s+ product page.

ML-Xs (Certified by Zvision)#

ZVISION ML-Xs is a long range automotive high performance grade solid state Lidar. Note there is no mesh for this lidar, so when it is created via the UI (see below), only a prim will appear in the Stage window.

To create the Lidar prim: Create>Isaac>Sensors>RTX Lidar>ZVISION>ML-Xs

Features and Specification
ML-30s+ Features#

name

ML-Xs

type

lidar

scanRateBaseHz

10.0

reportRateBaseHz

10

numberOfEmitters

108000

numberOfChannels

108000

nearRangeM

0.5

farRangeM

250

effectiveApertureSize

0.01

focusDistM

0.12

rangeResolutionM

0.03

rangeAccuracyM

0.05

minReflectance

0.1

minReflectanceRange

270.0

wavelengthNm

1550.0

pulseTimeNs

6

azimuthErrorMean

0.0

azimuthErrorStd

0.025

elevationErrorMean

0.0

elevationErrorStd

0.025

maxReturns

2

Note

For the datasheet and full list of specifications, visit the ML-Xs product page.