isaac-sim-sensor
Installation
SKILL.md
Omniverse Sensor Simulation
Cameras (RGB/depth/seg/bbox), lidar/radar/acoustic, IMU/contact/effort, and Replicator domain randomization. Targets Isaac Sim 6 / Kit 110.
Modern namespaces (use these in new code):
| Family | Module |
|---|---|
| RTX sensors (lidar, radar, acoustic, RTX camera) | isaacsim.sensors.experimental.rtx |
| Physics sensors (contact, IMU, effort, joint state, raycast) | isaacsim.sensors.experimental.physics |
| Replicator core | omni.replicator.core as rep |
| Replicator examples / SDG | isaacsim.replicator.examples |
| Mobile-robot SDG | isaacsim.replicator.mobility_gen |
| Grasping SDG | isaacsim.replicator.grasping |
| Episode record / replay | isaacsim.replicator.episode_recorder |
| Teleop record / replay | isaacsim.replicator.teleop |
| Domain randomization helpers | isaacsim.replicator.domain_randomization |
Legacy isaacsim.sensors.physics.* and isaacsim.sensors.camera.Camera classes still load but the implementation has moved to the experimental.* extensions; prefer those for new work.