[Question] Will more sensors be supported in the future?

[shaoxiang]

Question

Thank you very much for providing such an excellent robot simulation and learning platform. The robot sensors I am using in simulation are LiDAR and IMU. Previously, I used RTX lidar in isaac sim, which supports Ouster, Velodyne, etc. I need to migrate them to isaac lab now. I noticed that Velodyne lidar has been added #616 , but it is implemented using RayCaster. The information contained in RayCasterData is far inferior to RTX Lidar. For example, without intensity information. (As mentioned @Mayankm96 in #532 I think it is better to move the implementation to use RTX-based sensor since that will capture the LiDAR noise better. ) So, how to migrate RTX Lidar to isaac lab, and is there any official support plan? (I am referring to this open-source work: go2_omniverse