FET036 RTX Sensors

OmniLidar prims produce valid point cloud output when the asset is simulated in Isaac Sim.

Overview

This family loads a robot asset that conforms to FET_036_RTX into an Isaac Sim physics scene, steps the RTX render pipeline, and confirms that each OmniLidar prim produces a non-empty, finite-valued point cloud.

A conforming asset must have already passed static validation (LI.001–LI.004) before these runtime tests are meaningful. An asset that fails static validation will be reported as VALIDATION_FAILED and skipped.

Note: These tests require a robot asset that carries at least one OmniLidar prim with OmniSensorGenericLidarCoreAPI applied. An asset with no LiDAR sensors will be reported as not applicable and skipped.

What a Passing Family Means

A reviewer, PM, or OEM can trust that the asset’s OmniLidar prims are correctly typed and configured so that Isaac Sim can initialize the RTX render pipeline and produce range data without manual intervention. The asset is ready for use in mapping, obstacle avoidance, or synthetic data generation pipelines that depend on LiDAR output.

Tests

Test	What It Checks	Validates
lidar_point_cloud	OmniLidar prim produces a non-empty point cloud after one RTX sensor tick.	FET_036_RTX

Relationship to the Feature

This family validates the runtime behavior described by FET_036_RTX RTX Sensors.