The hemispherical lidars on the robot are 128-channel, 40 m range, 1,152,000 pts/s [Single Return], 189° x 360° Field of View, 0.4° (H) x 0.74° (V) Angular Resolution.
The current depth-camera-emulated setup does not mirror this too closely.
Perhaps we should use this?
https://github.com/discoverse-dev/MuJoCo-LiDAR
The hemispherical lidars on the robot are 128-channel, 40 m range, 1,152,000 pts/s [Single Return], 189° x 360° Field of View, 0.4° (H) x 0.74° (V) Angular Resolution.
The current depth-camera-emulated setup does not mirror this too closely.
Perhaps we should use this?
https://github.com/discoverse-dev/MuJoCo-LiDAR