Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_data
# Copyright (c) 2022-2025, The Isaac Lab Project Developers.# All rights reserved.## SPDX-License-Identifier: BSD-3-Clauseimporttorchfromdataclassesimportdataclass
[docs]@dataclassclassRayCasterData:"""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. """