Add RTX Lidar Sensor

docs/source/api/lab/omni.isaac.lab.sensors.rst

@@ -33,6 +33,8 @@
     RayCasterCameraCfg
     Imu
     ImuCfg
+    RtxLidar
+    RtxLidarCfg
 
 Sensor Base
 -----------
@@ -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

source/apps/isaaclab.python.headless.rendering.kit

@@ -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" = {}
@@ -84,6 +85,10 @@ 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" },

source/apps/isaaclab.python.rendering.kit

@@ -81,6 +81,10 @@ 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

source/extensions/omni.isaac.lab/config/extension.toml

@@ -1,7 +1,8 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.30.3"
+
+version = "0.31.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -1,6 +1,17 @@
 Changelog
 ---------
 
+0.31.0 (2025-01-03)
+~~~~~~~~~~~~~~~~~~~
+
+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
+
+
 0.30.3 (2025-01-02)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/rtx_lidar/__init__.py

@@ -0,0 +1,8 @@
+# Copyright (c) 2022-2025, 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