[Question] physx lidar data not update in headless mode

[shaoxiang]

I use the latest version of isaac sim4.5 and isaac lab v2.0.2
I tried to add physx lidar to the robot through the following method and this pr:
#532
from isaacsim.sensors.physx import _range_sensor
In non-headless mode, I can successfully obtain data.

But in headless mode, the sensor data is not updated.
I tried to modify isaaclab.python.headless.kit as follows.

Does anyone know how to update physx lidar data in headless mode?
Thank you very much.

[RandomOakForest]

Thanks for posting this. I will move this question to our Discussions section for the team to follow up.

[shaoxiang]

I look forward to the team supporting Physics Lidar or RTX Lidar in Isaac Lab as soon as possible. This is really important for robots.

[RandomOakForest]

Following up on this, there is a variety of LiDAR implementations covered in the Isaac Sim docs here. If you still have an issue with the headless mode, it may be helpful to file a bug report in the Isaac Sim forums.

[shaoxiang]

Disabling fabric can solve this problem, although I don't know why.
https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.sim.html#isaaclab.sim.SimulationCfg.use_fabric

[mistletoe235]

Thank you for the discussion. Have you now successfully rendered phycs LiDAR in headless mode? How to disabling fabric here?

[RodsCoimbra]

Hi,
I'm experiencing the same issue. Even after defining sim: SimulationCfg = SimulationCfg(dt=1 / 60, render_interval=decimation, use_fabric=False) in my config file, the values from my LiDAR still don't update.