A custom Isaac Sim extension that adds STMicroelectronics IMU sensor models directly into the Create → Sensors menu. Spawns a physics-driven, realistic IMU prim with a visible viewport marker.

Supported sensor models:

• ASM330LHH
• LSM6DSV

• ✅ Native Isaac Sim menu integration — no scripting required to place sensors
• ✅ Auto-attaches to whichever prim is selected in the Stage panel
• ✅ Visible dark navy cube marker in the viewport
• ✅ Physics-step driven runtime ticks each IMU at its configured ODR, independent of render rate
• ✅ Realistic IMU response model with sensor noise, bias drift, and quantization effects
• ✅ Verified against clean Isaac IMU output via included verification scripts

• Ubuntu 22.04 (tested)
• Isaac Sim Full 6.0.0 with Python 3.12 or Isaac Sim Full 5.1.0 with Python 3.10 — Installation Guide
• The compiled C++ sensor-realism engine:
  • Bundled for Isaac Sim 6.0.0 / Python 3.12: sim2real_native_v0_1.cpython-312-x86_64-linux-gnu.so
  • Bundled for Isaac Sim 5.1.0 / Python 3.10: sim2real_native_v0_1.cpython-310-x86_64-linux-gnu.so
  • Native binaries are platform-specific and must match the Python runtime and target Linux distribution.
  • Ubuntu 22.04 builds must not require a glibc version newer than the OS-provided glibc 2.35.

The source code is shared through an Isaac adapter layer. Release packages must use the extension.toml that matches the target Isaac Sim version.

st-mems-isaac-sim2real/
  config/
    extension.toml              # Extension metadata and dependencies
  data/
    models/
      ASM330LHH.json            # ASM330LHH sensor-realism profile and hardware config
      LSM6DSV.json              # LSM6DSV sensor-realism profile and hardware config
  sim2real/
    imu/
      sensor/
        adapters/               # Isaac 5.1 / 6.0 compatibility boundary
        __init__.py
        extension.py            # Menu registration, prim spawning
        config.py               # JSON config loader
        runtime.py              # Physics-step subscription + ODR scheduler
        noise/
          __init__.py
          native_backend.py     # C++ pybind wrapper
  imgs/                         # Screenshots for this README
  packaging/
    isaac-5.1.0/extension.toml  # Isaac 5.1 dependency manifest
    isaac-6.0.0/extension.toml  # Isaac 6.0 dependency manifest
  sim_binary/
    manifest.json               # Native backend compatibility metadata
    sim2real_native_v0_1.cpython-310-x86_64-linux-gnu.so
    sim2real_native_v0_1.cpython-312-x86_64-linux-gnu.so
  verification_script.py        # Trajectory logging script
  plot_verification.py          # Plot generator
  README.md

git clone <https://github.com/STMicroelectronics/st-mems-isaac-sim2real>
cd st-mems-isaac-sim2real

Select the extension manifest that matches your Isaac Sim version:

# Isaac Sim 6.0.0
cp packaging/isaac-6.0.0/extension.toml config/extension.toml

# Isaac Sim 5.1.0
# cp packaging/isaac-5.1.0/extension.toml config/extension.toml

Copy the repo contents into your Isaac Sim extensions directory:

cp -r . /path/to/isaac-sim/exts/sim2real.imu.sensor/

The destination folder must be registered as an extension search path in Isaac Sim. To check or add paths: Window → Extensions → ⚙️ (gear icon) → Extension Search Paths

The extension auto-discovers compatible native backends from sim_binary/ using sim_binary/manifest.json. Set SIM2REAL_NATIVE_PATH only when you need to override the bundled backend with another compatible build:

export SIM2REAL_NATIVE_PATH="/path/to/custom/native/backend"

1. Launch Isaac Sim
2. Go to Window → Extensions
3. Search for sim2real
4. Toggle Sim2Real IMU Sensor on

5. Check the console for:

[Sim2Real IMU] Native C++ backend loaded successfully.
[Sim2Real Runtime] Physics step subscription active.

6. (Optional) Check AUTOLOAD to enable automatically on every launch.

1. Load a robot into your scene
2. In the Stage panel, click the link you want to attach the sensor to (e.g. panda_hand)
3. From the top menu: Create → Sensors → STMicroelectronics IMU → ASM330LHH

4. The sensor appears as a child prim of your selected link with a navy cube visible in the viewport

5. Select the IMU prim and inspect Properties to confirm the config was applied

6. Press Play — the Sim2Real engine ticks automatically at the sensor's configured ODR

Each model's sensor-realism profile lives in data/models/<model>.json. Edit these files to tune the sensor — no code changes required.

{
    "model_id": "ASM330LHH",
    "accel_fs_g": 8.0,
    "gyro_fs_dps": 2000.0,
    "odr_hz": 104.0,
    "vibration": true
}

Config changes take effect the next time you place a sensor. Delete and re-place the prim to apply new values. All internal noise parameters (bias drift, white noise, quantization) are fixed in the C++ engine and not user-configurable.

1. Create data/models/<NewModel>.json with the hardware specs
2. Add one entry to the submenu in extension.py:

MenuItemDescription(
    name="NewModel",
    onclick_fn=lambda: self._spawn_sensor("NewModel"),
),

3. Toggle the extension off and on

Included scripts let you validate the Sim2Real IMU response against clean Isaac IMU output.

1. Load a stage with a Franka robot
2. Select panda_hand in the Stage panel and place an ASM330LHH sensor via the menu
3. Open Window → Script Editor
4. Paste and run verification_script.py
5. Press Play — 5 trajectories log automatically to ~/Documents/trajectories_verification/

python3 plot_verification.py

Each traj_N/ folder gets a verification_plot.png showing clean Isaac output vs realistic Sim2Real IMU output across all 6 axes:

The Sim2Real trace (red) should follow the clean motion profile (black dashed) with realistic sensor effects, including noise and bias drift.

Extension not found in manager

find /path/to/exts/sim2real.imu.sensor -type f

Confirm all files are present including noise/__init__.py.

C++ backend fails to load

• If you set SIM2REAL_NATIVE_PATH, verify it points to the folder containing a compatible sim2real_native_v0_1*.so
• Confirm the .so matches the Python version bundled with your Isaac Sim runtime
• If the error mentions GLIBC_x.y not found, do not manually upgrade system glibc. Use a backend rebuilt on the target OS/version instead.

Menu shows but cube is not visible in viewport

• Toggle the extension off and on
• Check the console for Python errors
• Run this in the Script Editor to confirm the prim exists:

import omni.usd
stage = omni.usd.get_context().get_stage()
prim = stage.GetPrimAtPath("/World/franka/panda_hand/ASM330LHH/visual")
print("Visual prim exists:", prim.IsValid())

Realistic IMU profile looks too clean or too aggressive

• Edit data/models/ASM330LHH.json directly
• Delete and re-place the sensor prim to pick up the new values
• Rerun verification_script.py and plot_verification.py to verify