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LiDAR sensors must be represented as OmniLidar prims with OmniSensorGenericLidarCoreAPI applied. The legacy UsdGeom.Camera with cameraSensorType=”lidar” pattern is not allowed. |
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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. |
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The omni:sensor:Core:scanRateBaseHz attribute on an OmniLidar prim must be at least 0.466 Hz. |
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For solid-state OmniLidar prims, the sum of all elements in omni:sensor:Core:numRaysPerLine must equal omni:sensor:Core:numberOfEmitters. |
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