Adds RayCaster rough terrain base height to reward #1525
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Andy-xiong6
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kellyguo11
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Signed-off-by: Kelly Guo <[email protected]>
Signed-off-by: Kelly Guo <[email protected]>
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May 19, 2025
# Description Enhance `base_height_l2` function to support rough terrain adjustments: - Added an optional `sensor_cfg` parameter to allow dynamic target height adjustments based on sensor readings (e.g., RayCaster). - Updated the function to calculate the L2 squared penalty using adjusted height values for rough terrain scenarios. - Preserved existing behavior for flat terrain by using the fixed `target_height`. - Improved compatibility for applications involving uneven terrain. Fixes isaac-sim#1524 ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x ] I have made corresponding changes to the documentation - [x ] My changes generate no new warnings - [x ] I have added tests that prove my fix is effective or that my feature works - [x ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
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Description
Enhance
base_height_l2function to support rough terrain adjustments:sensor_cfgparameter to allow dynamic target heightadjustments based on sensor readings (e.g., RayCaster).
height values for rough terrain scenarios.
target_height.Fixes #1524
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there