I was using this repository for reinforcement learning control of the Unitree A1.
I make some object for each environment like below(pictures) and add cube like this
CUBE_CFG = AssetBaseCfg(
prim_path="/World/Origin.*/Cube",
spawn=sim_utils.CuboidCfg(
size=(3., 3., 0.5),
# rigid_props=sim_utils.RigidBodyPropertiesCfg(),
# mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
collision_props=sim_utils.CollisionPropertiesCfg(),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 1.0, 1.0)),
),
init_state=AssetBaseCfg.InitialStateCfg(pos=(0, 0, 2)),
)
self.scene.obj = CUBE_CFG.replace(prim_path="{ENV_REGEX_NS}/OBJ")

i tried below

height_scanner = RayCasterCfg(
    prim_path="{ENV_REGEX_NS}/Robot/base",
    offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
    attach_yaw_only=True,
    pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[1.6, 1.0]),
    debug_vis=True,
    'mesh_prim_paths=["{ENV_REGEX_NS}/OBJ/geometry/mesh"],'
)

and have an error 'AttributeError: 'RayCaster' object has no attribute 'drift''.

or i add one asset (Cube) and tried 'mesh_prim_paths=["/World/Cube/"],' but i got the same error
i add cube like this.CUBE.func("/World/Cube", CUBE, translation=(0.0, 0.0, 1.0))
CUBE = sim_utils.CuboidCfg(
size=(10., 10., 0.5),
collision_props=sim_utils.CollisionPropertiesCfg(),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 1.0, 1.0)),
)

Is there a way to configure the raycast sensor to measure objects generated in each environment?
Or is there a way to add a single object and configure the raycast sensor to measure it?

Is there update for Raycast Sensor sensing multi static mesh or dynamic mesh?