How to add a RayCaster sensor in Isaac Sim?

[shaoxiang]

Thank you very much for Isaac Lab's excellent robot learning platform.
I trained a quadruped robot on rough terrain in Isaac Lab and now I want to migrate the policy to Isaac Sim, but I am having trouble adding sensor observations.
Isaac Sim doesn't seem to have a RayCaster sensor, only something like a LiDAR or ultrasonic sensor.
How can I get a RayCaster ground height measurement sensor in Isaac Sim?

[RandomOakForest]

Thank you for posting this question. There is a generic ray sensor in Isaac Sim that can be configured to approximate a ray caster. The complete list of available sensors is found in this doc. Also, you may consider a LiDAR sensor.

[shaoxiang]

Thanks. I will try range_sensor in isaac sim.
I can imagine that this work is difficult because the sensor data is a little bit different. So I think the sim2sim work from isaac lab to isaac sim is not simple, right?
I found the same problem. There is no set_external_force_and_torque method in Articulation in isaac sim.
How to sim2sim quadcopter policy is also a question.
Hopefully there will be more examples to explain this...