virtual stereo rig in Isaac Sim

Software
1

Hi,
I setup a stereo rig, with the zed-issaac-sim plugin,
I have loaded the usd files for the fish eye cameras to the scene,
and connected it in thethe action script
following this tutorial:

im getting an error when pressing play,
AttributeError: ‘ValuesForInputs’ object has no attribute ‘transport_layer_mode’

Traceback (most recent call last):

File “…/zed-isaac-sim/exts/sl.sensor.camera/sl/sensor/camera/nodes/SlCameraOneStreamer.py”, line 62, in compute

db.inputs.transport_layer_mode,

^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2

Hi,

Which version of the extension are you using ? This error should have been fixed in the latest one (4.2.2).

3

“SL_ZED_VERSION=4.2.0”
I will update, thanks

4

hi,
So I tried to setup simliarly to the tutorial , but it doesnt seem to connect ,
in the action script, I set it to IPC ,
I then run ZED_Depth_viewer , and try to connect ,

the zed-isaac-sim ext seems to complain about an invalid path:
2026-05-12 13:36:20 [Error] [sl.sensor.camera.annotators] Camera prim path /Root/ZED_X/base_link/ZED_X/CameraRight/base_link/ZED_XONE_GS/Camera is not valid.

yet, the path im using in the action graph is:
/Root/ZED_X/base_link/ZED_X/CameraRight
it seems to add base_link/ZED_XONE_GS ?
perhaps it works better on Windows ? which OS is recomended ?

also, can you elaborate on how to use the ZED Calibration exporter in IsaacSim?
is it for the virtual stereo rig streams? im not sure how to enable it for my stereo rig setup, thanks

5

Can you make sure you chose the correct camera model ? It seems to have a missmatch here (ZED X vs ZED XONE GS).

The Calibration exporter extension can be used to generate virtual stereo cameras from 2 ZED X Ones. To be more precise it helps you generate the calibration file necessary to use this rig with the ZED SDK.
You can find a guide on how to use this extension here : GitHub - stereolabs/zed-isaac-sim: NVIDIA Isaac Sim integration for ZED SDK · GitHub.

7

hi, when trying to stream via ipc on the same machine,
ZED_Explorer prints the following:
[Streaming] Warning : receiving port 40000 is not available (already used)… switching to port 40002. Retrying…
[Streaming] Backward compatibility required.

pls advise how to enable reading frames from ZED_Explorer

8

You only need to start a stream and set 127.0.0.1 for the IP and the same port as you set in Isaac sim.

Can you try with ZED Studio as well ?

Can you also precise which camera model you are trying to stream from Isaac sim ? Is it a mono or a virtual stereo camera ?

9

im trying to stream ZED x one GS mono camera first , if that works, I will try 2 ZED x one GS , and a virtual stereo.

do you support fisheye camera simulation ?
how close is zed x one camera simulation to the real camera ?
can you share examples of simulating zed x one fisheye ? a recorded svo file ?

im using the setup described here
I tried the setup described here:
https://github.com/stereolabs/zed-isaac-sim/blob/main/imgs/virtual_stereo_graph.gif

There are 3 nodes,
playback->Isaac Run One simulation frame->Zed Camera one helper → setting : IPC , SN , port and camera ,

I put the serial number of the real zed x one camera we use.
im getting similar errors on ZED_Studio:
[ZED][Streaming] Switching to SHM-boost backend input
[Streaming] Warning : receiving port 40000 is not available (already used)… switching to port 40002. Retrying…
[Streaming] Warning : receiving port 40002 is not available (already used)… switching to port 40004. Retrying…
[Streaming] Backward compatibility required.
[2026-05-20 19:51:52 UTC][ZED][WARNING] Simulated ZED One camera used. ZED XOne GS

10

The fisheye option is not available for now. You can only simulate the ZED X One GS and ZED X One 4k cameras.

For mono cameras, you do not need to specify a serial number, it’s only necessary for the virtual stereo camera (after you calibrated it).
Changing this might create a mismatch, I’m not sure.

11

can you provide the steps requires to simulate, stream, read stream, of a mono ZED X One GS ?

Isaac-sim seems to support fish eye cameras,
so I wonder why its not supported,

thanks,

12

It is not supported by our extension because we did not implement it yet.

To stream a mono camera, you can follow these steps and replace the ZED Camera Helper by the ZED Camera One Helper node : GitHub - stereolabs/zed-isaac-sim: NVIDIA Isaac Sim integration for ZED SDK · GitHub

For monocular cameras, you don’t need to specify a serial number, a dedicated serial number (for simulation purposes) will be assigned to the camera automatically.

13

hi,
what about IPC on Linux?

receiving port 40000 is not available (already used)
[Streaming] Backward compatibility required.

also, If I want to connect over network, which ip/port should I use?

14

To connect to isaac sim, you need to open a stream in ZED Explorer or ZED Studio (or another sample) and set the IP of the machine that runs Isaac sim. For IPC, you must use 127.0.0.1 or localhost.

The port must match in both Isaac sim and your receiving app (and be an even number).