From 3d54298d797862f3a0097175addb1107ae07fd50 Mon Sep 17 00:00:00 2001 From: Michael Gussert Date: Fri, 11 Oct 2024 08:55:25 -0700 Subject: [PATCH] starting on non camera sensors --- docs/source/overview/sensors/contact_sensor.rst | 4 +++- docs/source/overview/sensors/ray_caster.rst | 4 +++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/docs/source/overview/sensors/contact_sensor.rst b/docs/source/overview/sensors/contact_sensor.rst index e44d90f902..1865f51a4f 100644 --- a/docs/source/overview/sensors/contact_sensor.rst +++ b/docs/source/overview/sensors/contact_sensor.rst @@ -1,2 +1,4 @@ Contact Sensor -================ \ No newline at end of file +================ + +The contact sensor is designed to return the normal force acting on a given ridged body. \ No newline at end of file diff --git a/docs/source/overview/sensors/ray_caster.rst b/docs/source/overview/sensors/ray_caster.rst index 420b1205dd..5ebc1a8950 100644 --- a/docs/source/overview/sensors/ray_caster.rst +++ b/docs/source/overview/sensors/ray_caster.rst @@ -1,2 +1,4 @@ Ray Caster -============= \ No newline at end of file +============= + +The Ray Caster sensor (and the ray caster camera) are similar to RTX based rendering in that they both involve casting rays. The difference here is that the rays cast by the Ray Caster sensor return strictly collision information along the cast, and the direction of each individual ray can be specified. They do not bounce, nor are they affected by things like materials or opacity. For each ray specified by the sensor, a line is traced along the path of the ray and the location of first collision with the specified mesh is returned. This is the method used by some of our quadruped examples to measure the local height field \ No newline at end of file