Generalizes ViewpointSampling to all kind of sensor data

README.md

@@ -44,7 +44,7 @@ data-sampling approaches, typical RL terms and a benchmarking environment. Curre
 This extension lets you load realistic terrains complete with rich semantic annotations, run fast traversability analysis, and render large batches of multi-modal data. It exposes three core modules:
 
   - **Environment Importer** – load Matterport, Unreal/Carla, generated or USD terrains and expose all geometric / semantic domains → [Details](exts/nav_suite/docs/README.md#environment-importer)
-  - **Data Collectors** – sample trajectories, viewpoints and render multi-modal data from any imported world → [Details](exts/nav_suite/docs/README.md#data-collectors)
+  - **Data Collectors** – sample trajectories and render multi-modal sensor data from any imported world → [Details](exts/nav_suite/docs/README.md#data-collectors)
   - **Terrain Analysis** – build traversability height-maps and graphs for path planning and curriculum tasks → [Details](exts/nav_suite/docs/README.md#traversabilty-analysis)
 
 ## `nav_tasks` Extension
@@ -177,7 +177,7 @@ Here we provide a set of examples that demonstrate how to use the different part
       - [Import the Nvidia Warehouse Environment](scripts/nav_suite/terrains/warehouse_import.py)
   - ``collector``
       - [Sample Trajectories from Matterport](scripts/nav_suite/collector/matterport_trajectory_sampling.py)
-      - [Sample Viewpoints and Render Images from Carla (Unreal Engine)](scripts/nav_suite/collector/carla_viewpoint_sampling.py)
+      - [Sample Camera Viewpoints and Render Images from Carla (Unreal Engine)](scripts/nav_suite/collector/carla_sensor_data_sampling.py)
 
 ## Citing
 

exts/nav_suite/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.2.4"
+version = "0.2.5"
 
 # Description
 title = "IsaacLab Navigation Suite"

exts/nav_suite/docs/CHANGELOG.rst

@@ -1,6 +1,27 @@
 Changelog
 ---------
 
+
+0.2.5 (2025-08-13)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+- Added sampling support to other sensor data (such as RayCasters) to :class:`nav_suite.collectors.SensorDataSampling`
+  for sampling sensor data from the environment
+    - RayCaster implementation in :class:`nav_suite.collectors.sensors.RayCasterSensor`
+
+Changed
+^^^^^^^
+
+- Renamed :class:`nav_suite.collectors.ViewpointSampling` to :class:`nav_suite.collectors.SensorSampling` and
+  :class:`nav_suite.collectors.ViewpointSamplingCfg` to :class:`nav_suite.collectors.SensorSamplingCfg`
+- Sensor data extraction is now done in individual classes for each sensor type. The logic for camera data prev.
+  included in :class:`nav_suite.collectors.ViewpointSampling` is now extracted in
+  :class:`nav_suite.collectors.sensors.CameraSensor`.
+
+
 0.2.4 (2025-08-08)
 ~~~~~~~~~~~~~~~~~~
 

exts/nav_suite/docs/README.md

@@ -92,35 +92,21 @@ This extensions allows to collect data from the previously loaded environments a
 
     The trajectory sampling can be executed multiple times with different number of sampled trajectories as well as different minimum and maximum lengths.
 
-- `Viewpoint sampling and image rendering`:
+- `Sensor data sampling and rendering`:
 
-    For the viewpoint sampling the same terrain analysis as for the trajectory sampling is executed. The graph and traversability parameters are defined in corresponding [config file](../nav_suite/terrain_analysis/terrain_analysis_cfg.py).
+    For the sensor data sampling the same terrain analysis as for the trajectory sampling is executed. The graph and traversability parameters are defined in corresponding [config file](../nav_suite/terrain_analysis/terrain_analysis_cfg.py).
 
     **Important** for the analysis also regarding the semantic domain, a semantic class to cost mapping has to be defined in the config. Per default, an example cost map for ``matterport`` environments is selected.
 
-    Each node of the prah is a possible viewpoint, with the orientation uniformly sampled between variable bounds. The exact parameters of the sampling can be defined [here](../nav_suite/collectors/viewpoint_sampling_cfg.py).  You can define the ``module`` and the ``class`` of the parameters config that is used for the sampling. An example is provided that is optimized for the legged robot ANYmal and a matterport environment. Please not that this configuration assumes that two cameras are added where the first one has access to semantic information and the second to geoemtric information.
-
-    The number of viepoints that are sampled can be directory defined in the GUI. With the button ``Viewpoint Sampling`` the viewpoints are saved as ``camera_poses`` under the defined directory. Afterwards, click ``Viewpoint Renedering`` to get the final rendered images. The resulting folder structure is as follows:
-
-    ``` graphql
-    cfg.data_dir
-    ├── camera_poses.txt                    # format: x y z qw qx qy qz
-    ├── cfg.depth_cam_name                  # required
-    |   ├── intrinsics.txt                  # K-matrix (3x3)
-    |   ├── distance_to_image_plane         # annotator
-    |   |   ├── xxxx.png                    # images saved with 4 digits, e.g. 0000.png
-    ├── cfg.depth_cam_name                  # optional
-    |   ├── intrinsics.txt                  # K-matrix (3x3)
-    |   ├── distance_to_image_plane         # annotator
-    |   |   ├── xxxx.png                    # images saved with 4 digits, e.g. 0000.png
-    ```
+    Each node of the graph is a possible data sampling point, with the orientation uniformly sampled between variable bounds. The exact parameters of the sampling can be defined [here](../nav_suite/collectors/sensor_data_sampling_cfg.py). How the individual sensor  data is treated is defined in individual sensor modules, i.e., [Camera](../nav_suite/collectors/sensors/camera_cfg.py), [RayCaster](../nav_suite/collectors/sensors/raycaster_cfg.py).
+    An example is provided that is optimized for the legged robot ANYmal and a matterport environment. Please note that this configuration assumes that two cameras are added where the first one has access to semantic information and the second to geometric information.
 
 ### Standalone scripts
 
 Standalone scripts are provided to demonstrate the loading of different environments:
 
   - [Sample Trajectories from Matterport](../../../scripts/nav_suite/collector/matterport_trajectory_sampling.py)
-  - [Sample Viewpoints and Render Images from Carla (Unreal Engine)](../../../scripts/nav_suite/collector/carla_viewpoint_sampling.py)
+  - [Sample Camera Viewpoints and Render Images from Carla (Unreal Engine)](../../../scripts/nav_suite/collector/carla_sensor_data_sampling.py)
 
 
 > [!NOTE] **Matterport Sensors**: \

exts/nav_suite/nav_suite/collectors/__init__.py

@@ -3,7 +3,8 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
+from .sensor_data_sampling import SensorDataSampling
+from .sensor_data_sampling_cfg import SensorDataSamplingCfg
+from .sensors import *  # noqa: F401, F403
 from .trajectory_sampling import TrajectorySampling
 from .trajectory_sampling_cfg import TrajectorySamplingCfg
-from .viewpoint_sampling import ViewpointSampling
-from .viewpoint_sampling_cfg import ViewpointSamplingCfg