injected_multi_mesh_ray_caster

类：

名称	描述
InjectedRaycastTarget	Runtime mesh target injected directly into MultiMeshRayCaster.
InjectedMultiMeshRayCaster	MultiMeshRayCaster variant that can mix USD targets with injected meshes.

InjectedRaycastTarget dataclass

InjectedRaycastTarget(prim_expr: str, meshes: Sequence[MeshInput], positions_w: Tensor | None = None, orientations_w: Tensor | None = None)

Runtime mesh target injected directly into MultiMeshRayCaster.

positions_w and orientations_w may be either (num_meshes, *) for global meshes shared by all envs, or (num_envs, num_meshes, *) for per-env poses. Tensor references are retained, so the owner can update them in-place before sensor data is read.

InjectedMultiMeshRayCaster

Bases: MultiMeshRayCaster

MultiMeshRayCaster variant that can mix USD targets with injected meshes.