Connection and Disconnection (LightBeam)

SUMMARY

Connect links a LightBeamSensor instance to an IsaacLightBeamSensor prim in the open Isaac Sim stage, and starts the simulation timeline. Disconnect releases that connection. All operations on the sensor other than connecting require an active connection, so always pair the two inside a try / finally block.

The Skill

sensor.connect(simulation_prim_path="/World/simple_light_beam_sensor/LightBeam_Sensor")
sensor.disconnect()

The Code

"""
Demonstrates connecting to and disconnecting from a lightbeam sensor in a
running Isaac Sim stage.

Supports Isaac Sim only.

Usage:
    python connection_and_disconnection.py --prim_path <PRIM_PATH>

Note:
    Open Isaac Sim before running this. A stage that does not hold the
    sensor prim gets the bundled demo sensor added to it at
    /World/simple_light_beam_sensor, keeping whatever is already in the
    stage; to build a sensor of your own instead, follow
    https://docs.isaacsim.omniverse.nvidia.com/5.1.0/sensors/isaacsim_sensors_physx_lightbeam.html
    and name it with --prim_path.
"""

import argparse

from loguru import logger

from telekinesis.medulla.sensors import isaacsim


def main(prim_path: str) -> None:
    """Connects to a lightbeam sensor, then disconnects."""

    # ===================== Create Sensor ======================================
    sensor = isaacsim.LightBeamSensor(name="my_simulated_lightbeam")
    sensor.set_usd("https://assets.telekinesis.ai/usd/sensors/simple_light_beam_sensor.zip")

    try:
        # ==================== Run Skill ============================================
        sensor.connect(simulation_prim_path=prim_path)
        logger.success(f"Connected: {sensor.is_connected}.")
    except (ConnectionError, RuntimeError) as e:
        logger.error(f"Error occurred: {e}")
    finally:
        sensor.disconnect()


if __name__ == "__main__":
    p = argparse.ArgumentParser(
        description="Connect to and disconnect from a lightbeam sensor in Isaac Sim")
    p.add_argument(
        "--prim_path",
        type=str,
        default="/World/simple_light_beam_sensor/LightBeam_Sensor",
        help='Isaac Sim lightbeam sensor prim path, e.g. '
        '"/World/simple_light_beam_sensor/LightBeam_Sensor"')
    args = p.parse_args()

    main(prim_path=args.prim_path)

Running the Example

python connection_and_disconnection.py --prim_path /World/simple_light_beam_sensor/LightBeam_Sensor

For all options:

python connection_and_disconnection.py --help

Parameter Configuration

connect

Parameter	Type	Default	Description
simulation_prim_path	str	required	USD path of an IsaacLightBeamSensor prim in the open Isaac Sim stage, e.g. "/World/simple_light_beam_sensor/LightBeam_Sensor".

disconnect

Takes no parameters.

Returns

Method	Type	Description
connect	None	Returns nothing.
disconnect	None	Returns nothing.

Raises

Method	Exception	Condition
connect	RuntimeError	The sensor is already connected, or the connection fails (Isaac Sim not running with the telekinesis.isaacsim.bridge extension enabled, or the prim missing from the stage).
connect	TypeError	simulation_prim_path is empty or not a string.
disconnect	(none)	Calling on a sensor that is not connected logs a warning instead of raising.

Where to Use the Skill

Connect is the first call against a LightBeamSensor, and Disconnect the last. Use Is Beam Broken in between to read the sensor.