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Point root_height_below_minimum users to the terrain-aware termination #8974

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Point root_height_below_minimum users to the terrain-aware termination #8974

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Empty file added source/isaaclab/changelog.d/docs-root-height-rough-terrain.skip
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14 changes: 12 additions & 2 deletions source/isaaclab/isaaclab/envs/mdp/terminations.py
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,10 @@ def root_height_below_minimum(
"""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.
The minimum height is measured in the world frame, so this term only suits flat terrain. On rough
terrain, such as stairs or pits, the ground under the robot is not at a fixed height. Use
:func:`pelvis_below_terrain_clearance` there instead, which measures the root height above the
ground sampled by a ray-cast height scanner.
"""
asset: RigidObject = env.scene[asset_cfg.name]
return asset.data.root_pos_w.torch[:, 2] < minimum_height
Expand All @@ -92,7 +95,14 @@ def pelvis_below_terrain_clearance(
asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
sensor_cfg: SceneEntityCfg = SceneEntityCfg("height_scanner"),
) -> torch.Tensor:
"""Terminate when the root sits less than ``minimum_height`` above the ground beneath it."""
"""Terminate when the root sits less than ``minimum_height`` above the ground beneath it.

This is the terrain-aware counterpart of :func:`root_height_below_minimum`. The ground height of each
environment is the median height of the ray hits of the sensor in ``sensor_cfg``, typically a
downward-facing :class:`~isaaclab.sensors.RayCaster` attached to the robot base. The median keeps a few
rays that hit tall obstacles, such as a nearby wall, from shifting the ground estimate. Rays that hit
nothing count as ground at height zero.
"""
asset = env.scene[asset_cfg.name]
sensor = env.scene[sensor_cfg.name]
hits = sensor.data.ray_hits_w.torch[..., 2]
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