How to add a RayCaster sensor in Isaac Sim?

[shaoxiang]

Thank you very much for Isaac Lab's excellent robot learning platform.
I trained a quadruped robot on rough terrain in Isaac Lab and now I want to migrate the policy to Isaac Sim, but I am having trouble adding sensor observations.
Isaac Sim doesn't seem to have a RayCaster sensor, only something like a LiDAR or ultrasonic sensor.
How can I get a RayCaster ground height measurement sensor in Isaac Sim?

[RandomOakForest]

Thank you for posting this question. There is a generic ray sensor in Isaac Sim that can be configured to approximate a ray caster. The complete list of available sensors is found in this doc. Also, you may consider a LiDAR sensor.

[shaoxiang]

Thanks. I will try range_sensor in isaac sim.
I can imagine that this work is difficult because the sensor data is a little bit different. So I think the sim2sim work from isaac lab to isaac sim is not simple, right?
I found the same problem. There is no set_external_force_and_torque method in Articulation in isaac sim.
How to sim2sim quadcopter policy is also a question.
Hopefully there will be more examples to explain this...

[shaoxiang]

In Isaac Sim, you can use
from isaacsim.core.prims import SingleArticulation
to implement Articulation in Isaac Lab
RayCaster sensor seems to be implemented through RTX Lidar or Physics Lidar.

[yyjj25]

I have the same issue. May I ask how you resolved it?
I want to deploy the policy to Isaac Sim, but there is no RayCaster available to add in the observation.

[kellyguo11]

You can try using the RTX Lidar sensor to retrieve similar data as the RayCaster in Isaac Sim, or through the replicator point cloud annotator - https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#point-cloud

[ducmngx]

How can I get a 2D laser scan as part of my agent's observation?