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    This file was auto-generated by the 'repo_extension_docs' tool.
    Run 'repo extension_docs --help' for more details.

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.. _ext_isaacsim_sensors_rtx:

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[isaacsim.sensors.rtx] Isaac Sim Isaac Sensor Simulation
########################################################

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**Version**: :guilabel:`15.14.1`

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Provides APIs for RTX-based sensors, including RTX Lidar & RTX Radar.

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Enable Extension
================

The extension can be enabled (if not already) in one of the following ways:

.. tab-set::
    .. tab-item:: Command-line interface
        :sync: tab_cli

        Define the next entry as an application argument from a terminal.

        .. code-block:: bash

            APP_SCRIPT.(sh|bat) --enable isaacsim.sensors.rtx

    .. tab-item:: Experience/extension configuration
        :sync: tab_toml

        Define the next entry under ``[dependencies]`` in an experience (``.kit``) file or an extension configuration (``extension.toml``) file.

        .. code-block:: ini

            [dependencies]
            "isaacsim.sensors.rtx" = {}

    .. tab-item:: Extension Manager UI
        :sync: tab_gui

        Open the *Window > Extensions* menu in a running application instance and search for ``isaacsim.sensors.rtx``.
        Then, toggle the enable control button if it is not already active.


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.. include:: api.rst

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Omnigraph Nodes
===============

The extension exposes the following Omnigraph nodes:

.. toctree::
    :glob:
    :maxdepth: 1

    ogn/*

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Settings
========

Other Settings
--------------

The extension changes some settings of the application or other extensions, which are listed in the table below.

.. list-table::
    :header-rows: 1

    * - Application/extension setting
      - Description
      - Value
    * - ``app.sensors.nv.lidar.profileBaseFolder``
      - List of directories that the renderer searches for lidar profiles used by the deprecated camera-based lidar.

      - ``['${omni.sensors.nv.common}/data/lidar/', '${isaacsim.sensors.rtx}/data/lidar_configs/HESAI/', '${isaacsim.sensors.rtx}/data/lidar_configs/NVIDIA/', '${isaacsim.sensors.rtx}/data/lidar_configs/Ouster/OS0/', '${isaacsim.sensors.rtx}/data/lidar_configs/Ouster/OS1/', '${isaacsim.sensors.rtx}/data/lidar_configs/Ouster/OS2/', '${isaacsim.sensors.rtx}/data/lidar_configs/SICK/', '${isaacsim.sensors.rtx}/data/lidar_configs/SLAMTEC/', '${isaacsim.sensors.rtx}/data/lidar_configs/Velodyne/', '${isaacsim.sensors.rtx}/data/lidar_configs/ZVISION/', '${isaacsim.sensors.rtx}/data/lidar_configs/']``
    * - ``app.sensors.nv.lidar.outputBufferOnGPU``
      - Renderer keeps Lidar return buffer on GPU for post-processing.

      - ``False``
    * - ``app.sensors.nv.radar.outputBufferOnGPU``
      - Renderer keeps Radar return buffer on GPU for post-processing.

      - ``False``
    * - ``rtx.materialDb.nonVisualMaterialCSV.enabled``
      - Enable non-visual materials using USD attributes.

      - ``False``
    * - ``rtx.materialDb.nonVisualMaterialSemantics.prefix``
      - Specify the non-visual material USD attribute prefix.

      - ``'omni:simready:nonvisual'``
    * - ``rtx.rtxsensor.useHydraTimeAlways``
      - Use Hydra time (`omni.timeline`) in RTX sensor models.

      - ``True``

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