Adds RTXLidar

CONTRIBUTORS.md

@@ -101,6 +101,7 @@ Guidelines for modifications:
 * Ritvik Singh
 * Rosario Scalise
 * Ryley McCarroll
+* Samir Chowdhury
 * Shafeef Omar
 * Shundo Kishi
 * Stefan Van de Mosselaer

apps/isaaclab.python.headless.rendering.kit

@@ -18,6 +18,7 @@ keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
 # Isaac Lab minimal app
 "isaaclab.python.headless" = {}
 "omni.replicator.core" = {}
+"isaacsim.sensors.rtx" = {}
 
 # Rendering
 "omni.kit.material.library" = {}
@@ -86,6 +87,11 @@ app.vulkan = true
 # disable replicator orchestrator for better runtime perf
 exts."omni.replicator.core".Orchestrator.enabled = false
 
+# move the default lidar config file paths
+app.sensors.nv.lidar.profileBaseFolder.'++' = [
+    "${app}/../source/isaaclab/isaaclab/sensors/rtx_lidar/",
+]
+
 [settings.exts."omni.kit.registry.nucleus"]
 registries = [
     { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" },

apps/isaaclab.python.rendering.kit

@@ -17,6 +17,7 @@ keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
 [dependencies]
 # Isaac Lab minimal app
 "isaaclab.python" = {}
+"isaacsim.sensors.rtx" = {}
 
 # PhysX
 "omni.kit.property.physx" = {}
@@ -84,6 +85,11 @@ app.audio.enabled = false
 # disable replicator orchestrator for better runtime perf
 exts."omni.replicator.core".Orchestrator.enabled = false
 
+# move the default lidar config file paths
+app.sensors.nv.lidar.profileBaseFolder.'++' = [
+    "${app}/../source/isaaclab/isaaclab/sensors/rtx_lidar/",
+]
+
 [settings.physics]
 updateToUsd = false
 updateParticlesToUsd = false

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.40.6"
+version = "0.40.7"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.40.7 (2025-06-18)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added RTX LiDAR :class:`~isaaclab.sensors.rtx_lidar.rtx_lidar` and corresponding observations in :class:`~isaaclab.envs.mdp.observations`
+
+
 0.40.6 (2025-06-12)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/envs/mdp/observations.py

@@ -19,7 +19,7 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.managers.manager_base import ManagerTermBase
 from isaaclab.managers.manager_term_cfg import ObservationTermCfg
-from isaaclab.sensors import Camera, Imu, RayCaster, RayCasterCamera, TiledCamera
+from isaaclab.sensors import Camera, Imu, RayCaster, RayCasterCamera, RtxLidar, TiledCamera
 
 if TYPE_CHECKING:
     from isaaclab.envs import ManagerBasedEnv, ManagerBasedRLEnv
@@ -300,6 +300,24 @@ def imu_lin_acc(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg
     return asset.data.lin_acc_b
 
 
+def point_cloud(
+    env: ManagerBasedEnv, sensor_cfg: SceneEntityCfg = SceneEntityCfg("lidar"), data_type: str = "data"
+) -> torch.Tensor:
+    """Lidar point cloud data
+
+    Args:
+        env: The environment.
+        sensor_cfg: The desired sensor to read from. Defaults to SceneEntityCfg("lidar").
+        data_type: The data type to pull from the desired lidar. Defaults to "data".
+
+    Returns:
+        The point cloud in the sensor frame. Shape is (num_envs, num_points, 3)
+    """
+
+    sensor: RtxLidar = env.scene[sensor_cfg.name]
+    return sensor.data.output[data_type]
+
+
 def image(
     env: ManagerBasedEnv,
     sensor_cfg: SceneEntityCfg = SceneEntityCfg("tiled_camera"),

source/isaaclab/isaaclab/sensors/__init__.py

@@ -40,5 +40,6 @@
 from .frame_transformer import *  # noqa: F401
 from .imu import *  # noqa: F401, F403
 from .ray_caster import *  # noqa: F401, F403
+from .rtx_lidar import *  # noqa: F401, F403
 from .sensor_base import SensorBase  # noqa: F401
 from .sensor_base_cfg import SensorBaseCfg  # noqa: F401

source/isaaclab/isaaclab/sensors/rtx_lidar/__init__.py

@@ -0,0 +1,8 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from .rtx_lidar import RtxLidar
+from .rtx_lidar_cfg import RtxLidarCfg
+from .rtx_lidar_data import RTX_LIDAR_INFO_FIELDS, RtxLidarData