IMU Sensor#

  • The IMU sensor in Omniverse Isaac Sim tracks the motion of the body and outputs simulated accelerometer and gyroscope readings.

  • Like real IMU sensors, simulated IMUs gives acceleration and angular velocity measurements in local x, y, z axis with stage units.

See the Isaac Sim Conventions documentation for a complete list of Omniverse Isaac Sim conventions.

Isaac Example#

  • IMU Example: Isaac Examples > Sensors > IMU

To run the example:

  1. Go to the top menu bar and click Isaac Examples > Sensors > IMU.

  2. You should now see a window containing each axis of the accelerometer and gyro readings being displayed.

  3. Press the Open Source Code button to view the source code. The source code illustrates how to load an Ant body into the scene and then add the sensor to it using the Python API.

  4. Press the PLAY button to begin simulating.

  5. Press SHIFT + LEFT_CLICK to drag the ant around and see changes in the readings.

../../_images/isaac_imu_sensor_1.gif

Note

For more information on IMU usage, checkout Using Sensors: IMU

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