/configuring-radar-sensors

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# SPDX-License-Identifier: LicenseRef-NvidiaProprietary
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name: configuring-radar-sensors
description: >
  Authoring and configuring OmniRadar sensor prims and radar PointCloud render outputs.
  Use when user asks to create a radar scene, configure an OmniRadar prim, choose radar
  output frame/coordinate behavior, configure radar scan outputs, or request radar
  PointCloud channels.
license: LicenseRef-NvidiaProprietary
author: NVIDIA ovrtx
tags:
  - ovrtx
  - sensors
  - radar
tools:
  - Read
  - Grep

Configuring Radar Sensors

When to Use

Use this skill when the user asks to create a radar scene, configure an OmniRadar prim, choose radar output frame/coordinate behavior, configure radar scan outputs, or request radar PointCloud channels.

Inputs

Resolve inputs in this order: existing repository files and referenced snippets, explicit user request, then broader agent context.

• Target API surface: Python, C/C++, USD, or a combination.
• Radar sensor prim path, pose, frame rate, scan configuration, and output format attributes.
• RenderProduct path, PointCloud RenderVar path, requested output channels, coordinate representation, and output frame.
• Whether the user needs USD authoring only or an end-to-end example that steps and reads the configured output.
• Repository source snippets referenced below. Treat these snippets as the API source of truth.

Prerequisites

• Use an ovrtx checkout that contains the referenced examples and docs tests.
• Read the relevant `> **Source:**` snippet before writing or explaining API usage.
• Use `reading-sensor-pointclouds` for map/read code after the configured scene renders.
• Use `interpreting-radar-pointclouds` for channel units, signed radial velocity, validity, and visualization semantics.

Instructions

1. Identify the radar prim, RenderProduct, PointCloud RenderVar, requested channels, scan behavior, coordinate behavior, and output frame. 2. Read the matching USD, Python, or C/C++ source snippet before writing API usage. 3. Author the `OmniRadar` prim and `PointCloud` RenderVar channel set explicitly; do not imply channels are available unless requested or auto-enabled. 4. Combine configuration, reading, and interpretation skills only when the user asks for an end-to-end radar workflow. 5. When changing code, run the narrow docs test or example that owns the snippet whenever practical.

Output Format

• For explanations, cite the relevant API names, source snippets, and caveats.
• For code changes, summarize the files changed, snippets affected, and validation run.

Scripts

This skill has no scripts.

Limitations

• The referenced snippets remain the source of truth; update or add tested snippets before documenting new API usage.

Overview

An ovrtx radar setup has two parts:

• An `OmniRadar` prim with `OmniSensorGenericRadarWpmDmatAPI` that defines the sensor model, pose, frame rate, and output format.
• A `RenderProduct` pointing at that radar plus a `PointCloud` `RenderVar` that selects the radar output channels to expose.

The same USDA scene pattern is used from Python and C; the language-specific code only loads the scene, steps the render product, and maps the output.

Minimal Radar Prim

Python example scene

> **Source:** `examples/python/radar/radar_example.usda` snippet `configure-radar-sensor`

C example scene

> **Source:** `examples/c/radar/radar_example.usda` snippet `configure-radar-sensor`

Use `OmniSensorGenericRadarWpmDmatAPI` for the generic WPM DMAT radar model. The schema automatically includes scan configuration `s001`; apply `OmniSensorGenericRadarWpmDmatScanCfgAPI:s002`, `s003`, and so on only when authoring additional scan patterns.

In Z-up scenes, keep the physical scene Z-up and rotate the radar prim so sensor `+X` points along the intended forward direction. Prefer authoring that transform in USD instead of relying on renderer settings that change the coordinate frame globally.

Output Attributes

These output-defining attributes, among others, live on the radar prim with the `omni:sensor:WpmDmat:` prefix.

| Attribute | Values / Shape | Use | |---|---|---| | `elementsCoordsType` | `CARTESIAN`, `SPHERICAL` | Coordinate representation for detection coordinates. | | `outputFrameOfReference` | `SENSOR`, `WORLD`, `CUSTOM` | Frame of reference for outputs. Prefer `SENSOR` when downstream consumers expect sensor-frame detections. | | `customFrameOfReferenceTrafo` | `[x, y, z, roll, pitch, yaw]` | Custom transform used only with `outputFrameOfReference = CUSTOM`. |

OmniRadar prims expose many additional WPM DMAT sensor and scan attributes for wavelength, ray depth, CFAR behavior, range/velocity/angular bins, noise, RCS tuning, and antenna/aperture configuration. Preserve existing attributes when editing a tuned sensor, and author model-specific values from the schema.

For the full schema-derived attribute list, read `schemas/omni_sensors/schema.usda`.

Scan Configuration

The default scan is `s001`, and scan attributes use the `omni:sensor:WpmDmat:scan:<scanName>:` prefix. Use scan attributes such as max range, angular limits, resolution, bin counts, CFAR settings, noise settings, and RCS tuning to match the target radar model.

For concise examples, keep one scan unless the behavior being demonstrated requires near/far or otherwise distinct scan patterns.

PointCloud Render Output

Python example scene

> **Source:** `examples/python/radar/radar_example.usda` snippet `confi