Adds transform for mesh_prim of ray caster sensor #1448
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
clearsky-mio
requested review from
Dhoeller19 and
pascal-roth
as code owners
kellyguo11
changed the title
2 tasks
SevenFo
pushed a commit
to SevenFo/IsaacLab
that referenced
this pull request
May 19, 2025
# Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html --> Currently, ray-saster does not apply transform to the mesh that is cast against by ray. As a result, no matter where the mesh is, the ray caster get data as same as when the mesh is in the pos (0,0,0) with quat (1,0,0,0). <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots I use a red cube to mark the position of ray caster sensor, and use LidarPattern to generate ray for more intuitive visual effects. Before fixed, when the mesh is in the center with pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), the result will be right.  However, if pos=(1.0, -2.0, 0.0), rot=(0.816, 0.577, 0.0, 0.0), it causes bug as:  After fixed, the result will be right:  <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> Co-authored-by: Kelly Guo <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Currently, ray-saster does not apply transform to the mesh that is cast against by ray.
As a result, no matter where the mesh is, the ray caster get data as same as when the mesh is in the pos (0,0,0) with quat (1,0,0,0).
Type of change
Screenshots
I use a red cube to mark the position of ray caster sensor, and use LidarPattern to generate ray for more intuitive visual effects.
Before fixed, when the mesh is in the center with pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), the result will be right.
However, if pos=(1.0, -2.0, 0.0), rot=(0.816, 0.577, 0.0, 0.0), it causes bug as:
After fixed, the result will be right:
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there