Lidar rotationDirection field not respected in Omniverse 6.0 GA

[quagjustin]

I'm looking at the docs for lidar configs, and am trying to get my lidar to go in a different direction. I'd expect to see the azimuth values either go up or down depending on what omni:sensor:Core:rotationDirection is set to, but this does not seem to be the case, which makes me think this field is not working correctly. Here is a minimum example and output:

launch_config = {
    "headless": False,
    "renderer": "RayTracedLighting",
}
kit = SimulationApp(launch_config)

import omni
from isaacsim.core.api import World
from isaacsim.sensors.rtx import LidarRtx

omni.usd.get_context().open_stage("/isaac-sim/assets/lidar-test.usd")

world = World(physics_dt = 0.1, rendering_dt = 0.1, stage_units_in_meters = 1.0)


lidars = []

for i in range(0, 2):
    
    if i == 0:
        params = {
            "omni:sensor:Core:rotationDirection": "CW",
            "omni:sensor:Core:auxOutputType": "BASIC"
        }
    else:
        params = {
            "omni:sensor:Core:rotationDirection": "CCW",
            "omni:sensor:Core:auxOutputType": "BASIC"
        }
    sensor = LidarRtx(
        prim_path = "/World/lidar" + str(i),
        name = "lidar" + str(i),
        config_file_name="Example_Rotary",
        **params
    )
    lidar = world.scene.add(sensor)

    lidar.attach_annotator("IsaacExtractRTXSensorPointCloudNoAccumulator", outputAzimuth=True, outputEmitterId=True)
    lidar.attach_annotator("StableIdMap")
    lidar.add_point_cloud_data_to_frame()
    lidar.enable_visualization()
    lidars.append(lidar)

world.reset()

for _ in range(100):
    world.step(render=True)
    for i, lidar in enumerate(lidars):
        frame = lidar.get_current_frame()
        if "IsaacExtractRTXSensorPointCloudNoAccumulator" in frame:
            lidar_info = frame["IsaacExtractRTXSensorPointCloudNoAccumulator"]
            if "azimuth" in lidar_info:
                zero = lidar_info["emitterId"] == 0
                print("Lidar", "CW" if i == 0 else "CCW", "azs", lidar_info["azimuth"][zero][0:10])

kit.close()

Note that I'm using a custom stage, but I don't think that should matter.

Code output snippet:

Lidar CW azs [3.        2.8009033 2.7008972 2.600891  2.500885  2.4009094 2.3009033
 2.2008972 2.100891  2.000885 ]
Lidar CCW azs [3.        2.8236084 2.7236023 2.5741882 2.526703  2.423584  2.3236084
 2.2236023 2.1235962 2.02359  ]

[zwdoescode]

@quagjustin Thanks for raising this issue up! I am able to reproduce it.
I will create an internal ticket for the team to investigate.

Internal ticket: 6357484