Configuring Lidar Sensors

When to Use

Use this skill when the user asks to create a lidar scene, configure an OmniLidar prim, choose lidar output frame/coordinate behavior, or request lidar PointCloud channels.

Inputs

Resolve inputs in this order: existing repository files and referenced snippets, explicit user request, then broader agent context.

• Target API surface: Python, C/C++, USD, or a combination.
• Lidar sensor prim path, pose, frame rate, sensor model attributes, and optional emitter-state requirements.
• RenderProduct path, PointCloud RenderVar path, requested output channels, coordinate representation, and output frame.
• Whether the user needs USD authoring only or an end-to-end example that steps and reads the configured output.
• Repository source snippets referenced below. Treat these snippets as the API source of truth.

Prerequisites