We've been doing some internal testing because we are frustrated with limitations of rangefinders as lidar sensors. In short, they are slow to load and slow to process, as the sensors have to be updated every sim iteration. We find that having more than a few dozen sensors in place can drastically affect the speed of a simulation.
We've tested out mj_multiRay as a possible replacement, and are in the process of re-implementing the lidar sensor accordingly. This has significant benefits as the calculations can be made on-demand, and doesn't require externally modifying the MJCF to throw in a (potentially large) number of sensors.
Just opening this issue as an FYI to the broader community that this change is a WIP.
We've been doing some internal testing because we are frustrated with limitations of rangefinders as lidar sensors. In short, they are slow to load and slow to process, as the sensors have to be updated every sim iteration. We find that having more than a few dozen sensors in place can drastically affect the speed of a simulation.
We've tested out mj_multiRay as a possible replacement, and are in the process of re-implementing the lidar sensor accordingly. This has significant benefits as the calculations can be made on-demand, and doesn't require externally modifying the MJCF to throw in a (potentially large) number of sensors.
Just opening this issue as an FYI to the broader community that this change is a WIP.