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[Proposal] Anyone tried adding an IMU Sensor? #440
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I've been able to add and use omni.isaac.sensor.IMUSensor without much difficulty. After spawning your environment and loading the scene, I was able to import the sensor using `
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Is the IMUSensor from Isaac Sim any different than just querying the rigid state from the links and computing them in the right frame? Also, do you know if it works for parallelized simulation? We have an IMU sensor implementation that does the latter. But it didn't seem like it will be useful without a proper IMU noise model, etc. |
I have tried to put the IMU sensor from the examples, but in my case, it doesn't work, I got zero values every time, with False in reading.is_valid. The example of code: def update_imu(dt, imu_sensor, timeline, meters_per_unit, sensor_prim):
Who got something different than zeros? Need help. Thanks. |
Has anyone been able to figure out the IMU situation? |
If not, that may be the reason. I was having a similar reading in the beginning, but that seemed to fix it. This is the same physics sim view as in the environment. I have my responses to the earlier questions below @Mayankm96
As far as I can tell, the readings for the rigid state link and IMUSensor are the same during the render step. I didn't check this within a physics callback. I opted to use the IMUSensor naively because I got IMU readings to publish to a ros topic during each physics step with correct reference frames from the sensor readings.
I have not tested this for parallel simulations. I am currently working on a single robot simulation in a large environment context. I can try testing this out next week and let you know if this approach scales. |
I used
I also got the error as follows:
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Proposal
There is already an IMU implemented in IsaacSim documented here https://docs.omniverse.nvidia.com/isaacsim/latest/features/sensors_simulation/isaac_sim_sensors_physics_based_imu.html.
Are there any plans to add an IMU Sensor to Orbit or has anyone already done this?
Motivation
Robotics tasks such as navigation can benefit from IMU Sensor data which is currently not implemented in Orbit.
Checklist
Acceptance Criteria
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