How can custom RTX lidar configs be added in 5.0?

[rjwb1]

It seems now that the configs cannot simply be copied to the isaacsim.sensors.rtx and used. I am trying to implement the Livox MID360 which I did successfully in issac sim 4.5, however it seems in 5.0 there is a fixed set of configs in supported_lidar_configs.py. If I try to add my own config the sim segmentation faults even if a simply copy and rename an existing config

[rjwb1]

I found the best solution so far is to use an existing value and then edit its values...

if robot_config[lidar]['model'] == "mid360":
                sensor_attributes = {
                    'omni:sensor:Core:scanType': "ROTARY",
                    'omni:sensor:Core:intensityProcessing': "NORMALIZATION",
                    'omni:sensor:Core:rotationDirection': "CW",
                    'omni:sensor:Core:rayType': "IDEALIZED",
                    'omni:sensor:Core:nearRangeM': 0.1,
                    'omni:sensor:Core:farRangeM':40.0,
                    'omni:sensor:Core:rangeResolutionM': 0.004,
                    'omni:sensor:Core:rangeAccuracyM': 0.025,
                    'omni:sensor:Core:avgPowerW': 0.002,
                    'omni:sensor:Core:minReflectance': 0.1,
                    'omni:sensor:Core:minReflectanceRange': 120.0,
                    'omni:sensor:Core:wavelengthNm': 905.0,
                    'omni:sensor:Core:pulseTimeNs': 6,
                    'omni:sensor:Core:azimuthErrorMean': 0.1,
                    'omni:sensor:Core:azimuthErrorStd': 0.5,
                    'omni:sensor:Core:elevationErrorMean': 0.1,
                    'omni:sensor:Core:elevationErrorStd': 0.5,
                    'omni:sensor:Core:maxReturns': 2,
                    'omni:sensor:Core:scanRateBaseHz': 20.0,
                    'omni:sensor:Core:reportRateBaseHz': 14761,
                    'omni:sensor:Core:numberOfEmitters': 40,
                    'omni:sensor:Core:numberOfChannels': 40,
                    'omni:sensor:Core:maxFireTime': 78000,
                    'omni:sensor:Core:rangeOffset': 0.03,
                    'omni:sensor:Core:intensityMappingType': "LINEAR",
                    'omni:sensor:Core:emitterState:s001:azimuthDeg': [0]*40,
                    'omni:sensor:Core:emitterState:s001:elevationDeg': [
                        -7.0, -5.525, -4.050, -2.575, -1.1004, 0.374, 1.849, 3.324, 4.799, 6.274,
                        7.7494, 9.2249, 10.699, 12.174, 13.645, 15.1243, 16.5999, 18.074, 19.5499, 21.024,
                        22.493, 23.9749, 25.44, 26.924, 28.39, 29.8743, 31.3499, 32.824, 34.29, 35.774,
                        37.2486, 38.724, 40.19, 41.674, 43.14, 44.624, 46.09, 47.574, 49.048, 50.524
                    ],
                    'omni:sensor:Core:emitterState:s001:fireTimeNs': [i*1000 for i in range(40)],
                    'omni:sensor:Core:emitterState:s001:distanceCorrectionM': [0.0]*40,
                    'omni:sensor:Core:emitterState:s001:focalDistM': [0.0]*40,
                    'omni:sensor:Core:emitterState:s001:focalSlope': [0.0]*40,
                    'omni:sensor:Core:emitterState:s001:horOffsetM': [0.0]*40,
                    'omni:sensor:Core:emitterState:s001:reportRateDiv': [0.0]*40,
                    'omni:sensor:Core:emitterState:s001:vertOffsetM': [0.0]*40,
                    'omni:sensor:Core:emitterState:s001:channelId': list(range(1, 41)),
                }
            else:
                sensor_attributes = {'omni:sensor:Core:scanRateBaseHz': 20}

            if prim_path:
                sensor_prim = get_prim_at_path(prim_path + "/" + prim_name)
                if not sensor_prim.IsValid():
                    s_, sensor = omni.kit.commands.execute(
                        "IsaacSensorCreateRtxLidar",
                        path=prim_name,
                        parent=prim_path,
                        config=lidar_config,
                        variant=lidar_variant,
                        translation=(0, 0, 0),
                        orientation=Gf.Quatd(1.0,0,0,0.0),
                        **sensor_attributes,
                    )

[vick-yu]

Thanks for sharing your experience. Based on the information in the Isaac Sim 5.0 RTX Lidar Sensor documentation, the recommended approach for customizing a lidar is to instantiate a supported config and override its sensor attributes programmatically.

To help diagnose the specific segfault you’re seeing, could you please provide the full log output or the relevant log lines around where the crash occurs? This will help determine whether the issue is due to a missing/unsupported config reference or something else. The documentation suggests customization via attribute overrides only, so the logs should clarify if there’s a config loading or registration issue.

[marmik18]

Hi @rjwb1, you mentioned that you were able to replicate the behavior of the MID360 in Isaac Sim v4.5.0. Could you clarify whether you were able to reproduce the sensor’s non-repetitive scanning pattern, or if it was mainly parameters such as elevation angles, scan frequency, and so on?

[vick-yu]

Hello!

As there haven’t been any recent responses, we’re closing this issue or discussion to help keep our forum organized.

If you’re still encountering this issue or have further questions, please feel free to open a new issue or discussion with updated details. When doing so, referencing or linking to this original discussion would be helpful for context.

Thank you for contributing to the NVIDIA Isaac Sim community!

Best regards,
The NVIDIA Isaac Sim Team