Add backwards compatibility for attach_yaw_only

Author: jsmith-bdai

source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py

@@ -254,7 +254,13 @@ def _update_buffers_impl(self, env_ids: Sequence[int]):
             ray_starts_w = self.ray_starts[env_ids]
             ray_starts_w += pos_w.unsqueeze(1)
             ray_directions_w = self.ray_directions[env_ids]
-        elif self.cfg.ray_alignment == "yaw":
+        elif self.cfg.ray_alignment == "yaw" or self.cfg.attach_yaw_only:
+            if self.cfg.attach_yaw_only:
+                omni.log.warn(
+                    "The `attach_yaw_only` property will be deprecated in a future release. Please use"
+                    " `ray_alignment='yaw'` instead."
+                )
+
             # apply horizontal drift to ray starting position in ray caster frame
             pos_w[:, 0:2] += quat_apply_yaw(quat_w, self.ray_cast_drift[env_ids])[:, 0:2]
             # only yaw orientation is considered and directions are not rotated

source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py

@@ -44,6 +44,17 @@ class OffsetCfg:
     offset: OffsetCfg = OffsetCfg()
     """The offset pose of the sensor's frame from the sensor's parent frame. Defaults to identity."""
 
+    attach_yaw_only: bool = MISSING
+    """Whether the rays' starting positions and directions only track the yaw orientation.
+
+    This is useful for ray-casting height maps, where only yaw rotation is needed.
+
+    .. warning::
+
+        This attribute is deprecated. Use :attr:`~isaaclab.sensors.ray_caster.ray_caster_cfg.ray_alignment` instead.
+        To get the same behavior, set `ray_alignment` to `"yaw"`.
+    """
+
     ray_alignment: Literal["base", "yaw", "world"] = "yaw"
     """Specify in what frame the rays are projected onto the ground. Default is `world`.
         * `base` if the rays' starting positions and directions track the full root orientation.