LiDAR Sensor

Overview

This capability provides requirements for OmniLidar sensor prims, covering schema conformance, emitter state array consistency, scan rate validity, and solid-state ray count consistency.

Requirements

Tags	Summary	Compatibility	Validator
🔑	LiDAR sensors must be represented as OmniLidar prims with OmniSensorGenericLidarCoreAPI applied. The legacy UsdGeom.Camera with cameraSensorType=”lidar” pattern is not allowed.
✅	Every emitter state array attribute on an OmniLidar prim must have the same length as omni:sensor:Core:numberOfEmitters, and all emitter state arrays must be mutually consistent in length.
✅	The omni:sensor:Core:scanRateBaseHz attribute on an OmniLidar prim must be at least 0.466 Hz.
✅	For solid-state OmniLidar prims, the sum of all elements in omni:sensor:Core:numRaysPerLine must equal omni:sensor:Core:numberOfEmitters.