[Question] Question about applying vertical drift of raycaster to hit point instead of starting pos

[AngLi-00]

Question

In source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py --> _update_buffers_impl() --> line 307~308, the comment says that "apply vertical drift to ray starting position" but the vertical drift is applied to hit points instead of sensor pos i.e. starting position, is this a trick or bug?

        # apply vertical drift to ray starting position in ray caster frame
        self._data.ray_hits_w[env_ids, :, 2] += self.ray_cast_drift[env_ids, 2].unsqueeze(-1)

Build Info

Describe the versions that you are currently using:

• Isaac Lab Version: on main branch