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Point root_height_below_minimum users to the terrain-aware termination - #8974
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root_height_below_minimum compares the root height against a world-frame threshold, so it terminates robots that are standing normally on stairs or in pits. The terrain-aware alternative, pelvis_below_terrain_clearance, already exists but was not referenced from it and had a one-line docstring. Reference pelvis_below_terrain_clearance from the flat-terrain note and document how it estimates the ground height from a ray-cast height scanner, including why it uses the median of the ray hits and how missed rays are treated. Fixes isaac-sim#3986
blessedefe4real
requested review from
AntoineRichard,
StafaH,
fatimaanes,
kellyguo11,
ooctipus and
pbarejko
as code owners
November 8, 2026 01:34
Contributor
 [Low impact] This documentation-only PR appears safe to merge. SummaryThis documentation-only change points users of
No actionable issues found. Reviews (1) · Last reviewed commit: "Point root_height_below_minimum users to..." · Reviewed by Greptile |
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Isaac Lab Review Bot
All reviewed code categories look good.
- PR description: Replace “Fixes #3986” with “Refs #3986”; the diff documents an alternative but does not change the reported world-frame termination behavior, and no performance evidence is needed.
- Design and architecture: Architecture looks good.
- Scope and over-engineering: No over-engineering issues.
- API: API changes look good.
- Compatibility and deprecation: No breaking changes identified.
- Implementation: Implementation looks good.
- Style consistency: Style consistency looks good.
- Test quality: Test quality looks good.
No blocking issues. No inline findings.
Automated review; human maintainers own approval decisions.
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Description
root_height_below_minimumcompares the root height with a world-frame threshold, so it terminates robots standing normally on stairs or in pits (#3986). The terrain-aware alternative,pelvis_below_terrain_clearance, now exists inisaaclab.envs.mdp.terminationsbut was not referenced from it and had a one-line docstring.This points users of
root_height_below_minimumtopelvis_below_terrain_clearanceand documents how the latter estimates the ground: the median of the height scanner's ray hits, which keeps a few rays that hit a nearby wall from shifting the estimate (the concern raised in the review of #3987), with missed rays counted as height zero.Fixes #3986
Type of change
Checklist
pre-commitchecks.skip, docstring-only change)CONTRIBUTORS.mdor my name already exists there