lidar-omni-lidar-schema

Code	LI.001
Tags	🔑

Summary

LiDAR sensors must be represented as OmniLidar prims with OmniSensorGenericLidarCoreAPI applied. The legacy UsdGeom.Camera with cameraSensorType=”lidar” pattern is not allowed.

Examples

# Invalid: legacy Camera prim used as a LiDAR
def Camera "Lidar"
{
    token cameraSensorType = "lidar"
}

# Valid: OmniLidar prim with OmniSensorGenericLidarCoreAPI
def OmniLidar "Lidar" (
    prepend apiSchemas = ["OmniSensorGenericLidarCoreAPI"]
)
{
    uint omni:sensor:Core:numberOfEmitters = 1
}

How to comply

• Use an OmniLidar prim type (not Camera) for all LiDAR sensors.

• Apply OmniSensorGenericLidarCoreAPI to the prim.

• Remove any cameraSensorType = "lidar" attributes.