Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_data

# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

import torch
from dataclasses import dataclass


[docs]@dataclass class RayCasterData: """Data container for the ray-cast sensor.""" pos_w: torch.Tensor = None """Position of the sensor origin in world frame. Shape is (N, 3), where N is the number of sensors. """ quat_w: torch.Tensor = None """Orientation of the sensor origin in quaternion (w, x, y, z) in world frame. Shape is (N, 4), where N is the number of sensors. """ ray_hits_w: torch.Tensor = None """The ray hit positions in the world frame. Shape is (N, B, 3), where N is the number of sensors, B is the number of rays in the scan pattern per sensor. """