ZED X One S Isaac Sim

Software
1

Hi, I am trying to integrate 1 x ZED X Mini and 2 x ZED X One S Fisheye in Isaac Sim.

So far, I have succesfully implemented ZED X Mini with its image being streamed in ZED SDK.

However, for the ZED X One S, since there are no ZED X One S model in Isaac Sim yet, I am attempting to use simply import the 3D model of ZED X One S, add Camera in Isaac Sim, and connect to ZED One Camera while simply setting it as ZED X One GS model.

Here are the questions/issues that I am facing:

  1. As I do not have a physical ZED X One S fisheye model yet, I am unable to set parameters for the camera module in the isaac sim. Would it be possible to retrieve arbitrary values that I can use?
  2. When using ZED One Camera Helper, unlike ZED Camera Helper, the console printing the following :
    Traceback (most recent call last):
    File “~/isaacsim/extsUser/zed-isaac-sim/exts/sl.sensor.camera/sl/sensor/camera/nodes/SlCameraOneStreamer.py”, line 62, in compute
    db.inputs.transport_layer_mode,
    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    File “~/isaacsim/extsUser/zed-isaac-sim/exts/sl.sensor.camera/sl/sensor/camera/ogn/SlCameraOneStreamerDatabase.py”, line 219, in getattr
    return super().getattr(item)
    ^^^^^^^^^^^^^^^^^^^^^^^^^
    File “~/isaacsim/extscache/omni.graph-1.141.2+69cbf6ad.lx64.r.cp311/omni/graph/core/_impl/database.py”, line 675, in getattr
    return super().getattribute(item)
    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    AttributeError: ‘ValuesForInputs’ object has no attribute ‘transport_layer_mode’

I have compared the files above with the CameraStreamer. However, i could not see the issue.

Here are my system:

  • Isaac Sim : 5.1.0
  • ZED-Isaac-sim Extension : 4.2.1
  • ZED SDK : 5.2.3
2

Hi,

Thanks for the report, I’ll try to reproduce the issue on my side.

I initially planned to release a new version of the ext with some fixes today, but I’ll probably look at your issue first.

3

Hi,

I’ve not added the ZED X ONE S yet but I fixed the error you got while using the ZED Camera One node.

Can you try to pull the latest version of the ext ? GitHub - stereolabs/zed-isaac-sim: NVIDIA Isaac Sim integration for ZED SDK · GitHub

4

Hi,

Thank you for the quick fix.

I have just tested out the latest version of the ext, and the ZED Camera One Node is working perfectly.

Regarding the ZED X ONE S, when will it be available in the Isaac Sim?

Until then, is there any a camera parameter values in Isaac Sim that you recommend for the simulation of the ZED X ONE S fisheye lens model?

Currently, I am thinking of using the provided arbitrary values and make changes when the physical camera arrives and I finish the calibration.

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Screenshot from 2026-04-27 09-49-50
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5

Hi,

You can use the ZED X One GS for now. The only diff is the size of the camera, the rest is the same.

6

Thank you for the confirmation.

There are two more things that I would like to check on.

When connected to the ZED Depth Viewer after playing simulation in Isaac Sim

  1. I see that when transitioning from Left Camera to Right Camera for ZED X One GS + ZED One Camera Node, the Depth Camera view in ZED Depth Viewer is not shifting from left to right camera when the Stereo view is shifted.
  2. Also, for some reason, I am unable to retrieve Depth Camera data from ZED X Mini + ZED Camera Helper node when it is working fine with the ZED X One GS + ZED Camera One node.