[Bug Report] Ray caster failed to measure distance of given mesh properly

[raincold23]

Hello, IsaacLab Team,

While I was working on the ManagerBasedRLEnvCfg, I found that if a new terrain cfg is added into EnvCfg, the terrain scanner RayCaster cannot measure the hit pos properly given the new terrain prim path.

Steps to reproduce

I want the new terrain be added on certain position and orientation, so the terrain is attached to a Xform. The new terrain is added as follow:

@configclass
class MyEnvCfg(ManagerBasedRLEnvCfg):

    def __post_init__(self):
        """Post initialization."""
        self.scene.upper = AssetBaseCfg(
            prim_path="/World/upper",
            spawn=sim_utils.DiskLightCfg(visible=False, , prim_type="Xform"),
            init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, 10.2), rot=(0.0, 0.0, 1.0, 0.0)),
        )
        self.scene.upper_terrain = TerrainImporterCfg(
            prim_path="/World/upper/ground",
            terrain_type="generator",
            terrain_generator=UPPER_MASK_TERRAINS_CFG,
            max_init_terrain_level=9,
            collision_group=-1,
            physics_material=sim_utils.RigidBodyMaterialCfg(
                friction_combine_mode="multiply",
                restitution_combine_mode="multiply",
                static_friction=1.0,
                dynamic_friction=1.0,
            ),
            visual_material=sim_utils.MdlFileCfg(
                mdl_path=f"{ISAACLAB_NUCLEUS_DIR}/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl",
                project_uvw=True,
                texture_scale=(0.25, 0.25),
            ),
            debug_vis=False,
        )
        self.scene.lower_terrain_scanner = RayCasterCfg(
            prim_path = "{ENV_REGEX_NS}/Robot/body",
            offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, -20.0), rot=(0.0,0.0,1.0,0.0)),
            attach_yaw_only=True,
            pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[1.6, 1.0]),
            debug_vis=True,
            mesh_prim_paths=["/World/upper/ground"],
        )

While running this env, the new terrain is added to the World and collision of new terrain works well.

However, the RayCaster result is weird. It seems that from the perspective of lower_terrain_scanner, the new added terrain is still at the initial pos and ori.

So, the problem is why RayCaster assumes the terrain remains the initial pos and ori, even if the terrain is already translated and rotated.

System Info

Describe the characteristic of your environment:

• Commit: 5d86a8b
• Isaac Sim Version:4.2.0
• OS: Ubuntu 20.04
• GPU: RTX 3070

Additional context

Add any other context about the problem here.

Checklist

• I have checked that there is no similar issue in the repo (required)
• I have checked that the issue is not in running Isaac Sim itself and is related to the repo

[amatsukaze233]

You can refer to #1448, and calling self._initialize_warp_meshes() in _update_buffers_impl seems to detect dynamic objects.