Lidar in OIGE with skrl

Thank you for your kind reply.

The issue was solved, but another issue occurs in the process of headless mode.

When I train it with “headless=false”, it returns the proper value of depth.

However, when “headless=True”, the wrong value seem to be returned.

I modified it by referring to the post below, but in my case, the value is fixed to the maximum measurement
distance.

From my guess, it seems that the ray beam penetrates the obstacle and cannot be measured.

What steps can be taken in this case?

Thank you in advance !