When simulating Lidar instrument, obtained 3D points (x,y,z) are having y-axis pointing upwards. Apparently, Webots global coordinate frame defines its y-axis to show upwards.
I would like to have pointcloud values such that z-axis point upwards (as in real device). There should be an option in the scene tree in WorldInfo where the directions of coordinate axes are selected.
Alternative was to change WorldInfo.gravity field to 0 0 -9.81, as stated in here, but this additionally complicates model and introduces perks with setting other sensors. It just seems too complicated solution for a simple gereric feature.
There is a parameter of WorldInfo in Webots documentation, coordinateSystem that can take values ENU, NUE, or EUN. That looks like it should do the job. Unfortunately, it is not possible to find this field in the scene tree of Webots R2020a rev 1.
When simulating Lidar instrument, obtained 3D points (x,y,z) are having y-axis pointing upwards. Apparently, Webots global coordinate frame defines its y-axis to show upwards.
I would like to have pointcloud values such that z-axis point upwards (as in real device). There should be an option in the scene tree in WorldInfo where the directions of coordinate axes are selected.
Alternative was to change WorldInfo.gravity field to 0 0 -9.81, as stated in here, but this additionally complicates model and introduces perks with setting other sensors. It just seems too complicated solution for a simple gereric feature.
There is a parameter of WorldInfo in Webots documentation, coordinateSystem that can take values ENU, NUE, or EUN. That looks like it should do the job. Unfortunately, it is not possible to find this field in the scene tree of Webots R2020a rev 1.