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Support root_height_below_minimum for rough terrain #3987

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Support root_height_below_minimum for rough terrain #3987

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e2ecc15
Fix root_height_below_minimum for rough terrain similar to rewards.ba…
hany606 Nov 10, 2025
ed2e799
hotfix
hany606 Nov 10, 2025
f57073e
Added my name to the CONTRIBUTORS.md
hany606 Nov 10, 2025
b824f51
Merge branch 'main' into main
hany606 Nov 12, 2025
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16 changes: 12 additions & 4 deletions source/isaaclab/isaaclab/envs/mdp/terminations.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@

from isaaclab.assets import Articulation, RigidObject
from isaaclab.managers import SceneEntityCfg
from isaaclab.sensors import ContactSensor
from isaaclab.sensors import ContactSensor, RayCaster

if TYPE_CHECKING:
from isaaclab.envs import ManagerBasedRLEnv
Expand Down Expand Up @@ -60,16 +60,24 @@ def bad_orientation(


def root_height_below_minimum(
env: ManagerBasedRLEnv, minimum_height: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
env: ManagerBasedRLEnv,
minimum_height: float,
asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
sensor_cfg: SceneEntityCfg | None = None,
) -> torch.Tensor:
"""Terminate when the asset's root height is below the minimum height.
Note:
This is currently only supported for flat terrains, i.e. the minimum height is in the world frame.
For rough terrain, sensor readings can adjust the asset height to account for the terrain.
"""
# extract the used quantities (to enable type-hinting)
asset: RigidObject = env.scene[asset_cfg.name]
return asset.data.root_pos_w[:, 2] < minimum_height
asset_height = asset.data.root_pos_w[:, 2]
if sensor_cfg is not None:
sensor: RayCaster = env.scene[sensor_cfg.name]
# Adjust the asset height using the sensor data
asset_height = asset_height - torch.mean(sensor.data.ray_hits_w[..., 2], dim=1)
return asset_height < minimum_height


"""
Expand Down