[Question] raycaster sensor does not change orientation after spawning along with the robot. #3509
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Deepak-Mutta
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Thank you for posting this. Is this Isaac Lab 2.2.1? I'll move this post to our Discussions section for follow up. |
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I'm working on RL training in a custom maze environment. I have a ray caster sensor spawned using the following setup.
System Info
isaacsim version = 5.0.0
ubuntu 22.04
sensor spawned in InteractiveSceneCfg
maze developed in isaacsim by merging meshes and setting colliders to convex decomposition.
lidar = RayCasterCfg(prim_path="/World/envs/env_.*/Robot/Rigid_Bodies/Chassis", offset = RayCasterCfg.OffsetCfg(pos=[0,0,0.25]), update_period=0.1, max_distance=10, ray_alignment="yaw", mesh_prim_paths=["/World/envs/env_0/maze/maze_mesh"], debug_vis= not args_cli.headless, pattern_cfg = LidarPatternCfg( channels=1, vertical_fov_range = [0, 0], horizontal_fov_range = (0,180), horizontal_res = 0.5 ), )
However, after the initial spawn the Ray Caster sensor doesn't change its orientation along with the robot and a few rays pass through the mesh. From my understanding, the horizontal range is always in line with world frame but not the robot frame.
Fig 1. Initial spawn state for robot and Ray Caster hits.

Fig 2. robot and Ray Caster hits after moving to 90 degrees heading.

Fig 3. robot and Ray Caster hits after moving to 180 degrees heading.

Fig 4. Rays passing through mesh.

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