ooctipus

Close due to stale issue, team is aware of several related issue and is working on fix, feel free to re-submit the issue when you stumbled upon it again ;...

Could you please try on Isaac sim 5.1, I just tested with the set up the with dexsuite environment using ``` num_cameras = sensor.data.intrinsic_matrices.size(0) positions = torch.tensor([[2.5, 2.5, 2.5]], device=env.device).repeat(num_cameras,...

Let me take a look at this

It looks very good on first pass thank you @pascal-roth @renezurbruegg @Mayankm96 , but I want to spend a bit more time review this carefully a bit later!

as an example some robot has prim_path of `{ENV_REGEX_NS}/Robot` where the ArticulationRootAPI is applied other robot may have ArticulationRootAPI applied at prim_path `{ENV_REGEX_NS}/Robot/root_joint` if user mistakenly place the raycasterCfg's prim...

``` def create_primitive_mesh(prim) -> trimesh.Trimesh: prim_type = prim.GetTypeName() if prim_type == "Cube": size = UsdGeom.Cube(prim).GetSizeAttr().Get() return trimesh.creation.box(extents=(size, size, size)) elif prim_type == "Sphere": r = UsdGeom.Sphere(prim).GetRadiusAttr().Get() return trimesh.creation.icosphere(subdivisions=3, radius=r) elif...

I also see that I have a same triangulate face utility https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/mdp/utils.py ``` def _triangulate_faces(prim) -> np.ndarray: mesh = UsdGeom.Mesh(prim) counts = mesh.GetFaceVertexCountsAttr().Get() indices = mesh.GetFaceVertexIndicesAttr().Get() faces = [] it...

line 166 in `source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py` ``` if not target_cfg.is_global: ``` But I don't see is_global defined in target_cfg? it should be changed to ``` target_cfg.track_mesh_transforms ``` am I right?

@pseudo-rnd-thoughts Thanks for submitting this PR, I think IsaacLab uses same-step reset mode!

@pseudo-rnd-thoughts Let me know if there is something I can help, it will be nice to update to gymnasium up-to-date standard : ))