Source code for isaaclab.sensors.ray_caster.multi_mesh_ray_caster_data

# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause


"""Data container for the multi-mesh ray-cast sensor."""
import torch

from .ray_caster_data import RayCasterData


class MultiMeshRayCasterData(RayCasterData):
    """Data container for the multi-mesh ray-cast sensor."""

    ray_mesh_ids: torch.Tensor = None
    """The mesh ids of the ray hits.

    Shape is (N, B, 1), where N is the number of sensors, B is the number of rays
    in the scan pattern per sensor.
    """