Lidar in OIGE with skrl

[swimpark]

Hi toni !

Thanks to your efforts, we are using skrl to easily build a reinforcement learning environment and use it for research.

I am currently facing a problem using lidar in skrl(OIGE).

When I train it with "headless=false", it returns the proper value of depth.

However, when "headless=True", the wrong value seem to be returned.

I modified it by referring to the post below, but in my case, the value is fixed to the maximum measurement
distance.

https://forums.developer.nvidia.com/t/unable-to-get-depth-data-with-lidar-sensor-in-headless-mode/223705

From my guess, it seems that the ray beam penetrates the obstacle and cannot be measured.

What steps can be taken in this case?

Thank you in advance !

[psh9002]

Hi,swimpark

I answered to your question. Please refer to your question in Isaac Sim forum.

Thanks.