IsaacSim LightBeam
SUMMARY
The LightBeamSensor class reads an IsaacLightBeamSensor prim in a running Isaac Sim stage. It reports whether something is standing in the beam, the same question a physical light barrier answers.
Requirements: Isaac Sim running with the telekinesis.isaacsim.bridge extension enabled, and an IsaacLightBeamSensor prim in the open stage.
Installation
Install Medulla — see Installation. No additional dependencies are required beyond Isaac Sim itself.
Getting Started
Open Isaac Sim and add a lightbeam sensor prim to the stage before running any script. If there is none yet, follow the Isaac Sim lightbeam sensor guide to create one.
from telekinesis.medulla.sensors import isaacsim
sensor = isaacsim.LightBeamSensor(name="cell_1_lightbeam")
sensor.connect(simulation_prim_path="/World/LightBeam_Sensor")
if sensor.is_beam_broken():
...WARNING
A simulated sensor answers from the last physics step, so the simulation timeline must be playing to get a reading. connect() starts it.
Examples
| Skill | Description |
|---|---|
| Connection and Disconnection | Connect to and disconnect from a lightbeam sensor prim in the open stage |
| Set USD | Configure the asset used when the sensor prim is missing |
| Is Beam Broken | Report whether anything is standing in the beam |
| Start and Stop Stream | Publish beam states over BabyROS at a configurable maximum rate |