Inconsistent Laser Scan Orientation in Isaac Sim v4.0.0 Compared to v2023.1.1

Omniverse Isaac Sim
1

Hello everyone,

I’ve encountered an issue with the laser scans generated by my robot in Isaac Sim version 4.0.0, which seem to differ significantly from those in version 2023.1.1. Despite using the same USD files, the laser scans appear to be rotated in the newer version.

To ensure the issue wasn’t specific to my project, I created a simple USD test scene, and the problem persists. I’ve attached a video demonstrating the behavior for reference.

Has anyone else noticed this? Is this change in orientation intentional? I attempted to correct it with a 180-degree rotation around the z-axis, but there is still a difference in the two laser scans generated.


test.zip (14.2 KB)

Any insights or suggestions would be greatly appreciated.

Best regards,
Lukas

2

Thank you for bringing this issue to our attention. We appreciate your detailed description and the effort you’ve put into investigating the problem with laser scan orientations between Isaac Sim versions 4.0.0 and 2023.1.1.

Have you tried using Isaac Sim version 4.1.0? I recommend upgrading to version 4.1.0 and testing your USD files again to see if the issue persists.

3

Thank you for your response. I tested the same USD with version 4.1.0, but unfortunately, the issue still persists. As a temporary workaround, I managed to “solve” the problem by creating an RTX LiDAR that publishes the laser scan message. This approach works for now, but it would be great to have a more permanent fix in future updates.