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Fix raycaster vertical drift comment #4276

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Fix raycaster vertical drift comment #4276

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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Expand Up @@ -45,6 +45,7 @@ Guidelines for modifications:
* Alice Zhou
* Amr Mousa
* Andrej Orsula
* Ang Li
* Anton Bjørndahl Mortensen
* Antonin Raffin
* Arjun Bhardwaj
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3 changes: 2 additions & 1 deletion source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py
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Expand Up @@ -304,7 +304,8 @@ def _update_buffers_impl(self, env_ids: Sequence[int]):
mesh=RayCaster.meshes[self.cfg.mesh_prim_paths[0]],
)[0]

# apply vertical drift to ray starting position in ray caster frame
# apply vertical drift to the z-coordinate of detected hit positions (rather than the ray starts)
# to model vertical bias without changing ray geometry or recomputing intersections.
self._data.ray_hits_w[env_ids, :, 2] += self.ray_cast_drift[env_ids, 2].unsqueeze(-1)

def _set_debug_vis_impl(self, debug_vis: bool):
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