Synthetic Data Collection from RTX Radar

[sandipsharan]

Hello,

I'm trying to use the RTX Radar sensor to collect synthetic data for my research. In the previous version, Isaac Sim 4.5, I could use the RtxSensorGpuIsaacComputeRTXRadarPointCloud annotator to get the complete radar data, which included range, azimuth, elevation, RCS, and point cloud data. But in Isaac Sim 5.0, it seems that functionality has been removed, and I can only get the Cartesian Coords using the IsaacExtractRTXSensorPointCloudNoAccumulator, but it says we can compute those values through the data buffer. Can someone help me out with this process? Thank you.

[vick-yu]

You're correct that the RTX Radar data access has changed in Isaac Sim 5.0. The old RtxSensorGpuIsaacComputeRTXRadarPointCloud annotator has been replaced with the new Generic Model Output (GMO) system, which provides a unified interface for all RTX sensors including Radar.

All radar data components (range, azimuth, elevation, RCS, point cloud) are still accessible via the GMO API. You can retrieve them by browsing the GMO output fields associated with your radar sensor in the simulation.

For reference, you can adapt approaches demonstrated in:

• The script: standalone_examples/api/isaacsim.sensors.rtx/inspect_lidar_metadata.py
• The documentation: Generic Model Output – RadarAuxiliaryData

Although the example is for LiDAR metadata, the workflow for radar is analogous—just use the corresponding GMO output for your radar sensor and inspect it for available radar-specific fields (such as range, azimuth, RCS, etc.). If you need, you can find the relevant radar data structure under the reference "RadarAuxiliaryData" in the linked documentation.

[sandipsharan]

Thank you. I figured out how to get that data. I'm wondering how to get the auxiliary data from the radar. I'm trying to use the inspect_lidar_metadata.py as a reference and create the radar, but I couldn't figure out a way to get the velocity information, which is inside the auxiliary data. Can you help me with that? Thanks. Here's how I initialize my radar.

sensor_attributes = {"omni:sensor:tickRate": 10, "omni:sensor:Core:auxOutputType": "BASIC"}

_, sensor = omni.kit.commands.execute(
    "IsaacSensorCreateRtxRadar",
    translation=Gf.Vec3d(0.05, 0.05, 0),
    orientation=Gf.Quatd(
        1,
        0,
        0,
        0,
    ),
    path=radar_path,
    parent=radar_parent,
    visibility=False,
    variant=None,
    force_camera_prim=True,
    config=radar_config,
    **sensor_attributes,
)

I even tried the omni:sensor:WpmDmat:auxOutputType: "BASIC" as I saw this in the link given below, but it didn't work.
https://docs.omniverse.nvidia.com/kit/docs/omni.usd.schema.omni_sensors/latest/omni_sensors_schema.html#omnisensorgenericradarwpmdmatscancfgapi

[vick-yu]

Thank you for your question and for sharing your experience adapting LiDAR metadata scripts for radar sensor data in Isaac Sim.

Just to update you: the upcoming 5.1.0 GA release will include an inspect_radar_metadata.py script for your reference.

[sandipsharan]

Thanks ! If possible, can you look into the discussion and let me know if we can do that?
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