# Why do indoor scenes need furniture that LiDAR cannot scan? | Gazebo Mecanum-Wheel Robot Simulation (Part 5)

- Source: Guyuehome
- Published: 2026-11-01T08:38:00.000Z
- RoboHot: https://robohot.news/en/items/lt3wqqcrmin86qcihz8c8ek0c
- Original: https://www.guyuehome.com/detail?id=2114991671184748545

## Summary

The fifth installment of the Gazebo Mecanum-Wheel Robot Simulation series discusses deliberately placing furniture in indoor scenes that LiDAR cannot scan, because mapping requirements conflict with exam requirements; the solution is to split this into two layers, a "permanent layer" and a "blind-spot layer."