Raycaster-like sensor

[miguelalonsojr]

Hi! It would be great to have a Raycaster-like sensor (https://isaac-sim.github.io/IsaacLab/main/source/overview/sensors/ray_caster.html) to be able to do lightweight proprioceptive sensing, like in https://proceedings.mlr.press/v164/rudin22a/rudin22a.pdf. I would be happy to collaborate on this feature and any pointers on how to go about adding this in would be great. I'm just now getting into the codebase to understand how everything is integrated. Any thoughts on this?