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Adds RayCaster rough terrain base height to reward #1525

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merged 8 commits into from
Dec 13, 2024
Merged

Adds RayCaster rough terrain base height to reward #1525

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b5a0f85
Adds support for dynamic target height adjustment in base_height_l2 f…
Andy-xiong6 Dec 11, 2024
ea49b37
Modify changelogs, contributors
Andy-xiong6 Dec 11, 2024
5ace9f9
Modify extension version to 0.27.25
Andy-xiong6 Dec 11, 2024
c8ddad4
Modify changelog
Andy-xiong6 Dec 11, 2024
d6aceb6
Merge branch 'main' into feature/rough-terrain-base-height-reward
kellyguo11 Dec 13, 2024
6bddea3
Update extension.toml
kellyguo11 Dec 13, 2024
b8194a8
Merge branch 'main' into feature/rough-terrain-base-height-reward
kellyguo11 Dec 13, 2024
90257af
Merge branch 'main' into feature/rough-terrain-base-height-reward
Andy-xiong6 Dec 13, 2024
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Modify changelogs, contributors
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Andy-xiong6 committed Dec 11, 2024
commit ea49b37806df78e787e16188722fddd48c7238a0
1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Expand Up @@ -49,6 +49,7 @@ Guidelines for modifications:
* Giulio Romualdi
* Haoran Zhou
* HoJin Jeon
* Hongwei Xiong
* Jan Kerner
* Jean Tampon
* Jia Lin Yuan
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11 changes: 11 additions & 0 deletions source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
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@@ -1,6 +1,17 @@
Changelog
---------

0.27.25 (2024-12-11)
~~~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Introduced an optional `sensor_cfg` parameter to the :meth:`~omni.isaac.lab.envs.mdp.rewards.base_height_l2` function, enabling the use of
:class:`~omni.isaac.lab.sensors.RayCaster` for height adjustments. For flat terrains, the function retains its previous behavior.
* Improved documentation to clarify the usage of the :meth:`~omni.isaac.lab.envs.mdp.rewards.base_height_l2` function in both flat and rough terrain settings.


0.27.24 (2024-12-09)
~~~~~~~~~~~~~~~~~~~~

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