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Adds ability to set platform height independent of object height for terrain #2695

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Merged
merged 4 commits into from
Jul 9, 2025
Merged

Adds ability to set platform height independent of object height for terrain #2695

merged 4 commits into from
Jul 9, 2025

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jtigue-bdai
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@jtigue-bdai jtigue-bdai commented Jun 13, 2025 •
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Description

Allow to set platform height independent of the object height.

Type of change

  • New feature (non-breaking change which adds functionality)

Checklist

  • I have run the pre-commit checks with ./isaaclab.sh --format
  • I have made corresponding changes to the documentation
  • My changes generate no new warnings
  • I have added tests that prove my fix is effective or that my feature works
  • I have updated the changelog and the corresponding version in the extension's config/extension.toml file
  • I have added my name to the CONTRIBUTORS.md or my name already exists there

Credit: @fjenelten-bdai

@jtigue-bdai jtigue-bdai requested a review from Mayankm96 as a code owner June 13, 2025 15:20
@jtigue-bdai jtigue-bdai self-assigned this Jun 13, 2025
@jtigue-bdai
Merge branch 'main' into jat/feat/terrain_heigh_control
28621a0 
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
@ooctipus
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ooctipus commented Jul 3, 2025

having consistent mesh terrain height for repeatedObjects seems to be a nice feature.
Can you remind me if without platform_height, what issue will the original implementation run into?

ooctipus
ooctipus approved these changes Jul 7, 2025
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@ooctipus ooctipus left a comment

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Looks good to me, if you have an easy example or modify existing example where platform_height is more appropriate than object height that you can show the intended use case that will be great(let me know if you need help :D). If that's not easy I think this code is good to go!

@jtigue-bdai
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having consistent mesh terrain height for repeatedObjects seems to be a nice feature. Can you remind me if without platform_height, what issue will the original implementation run into?

Main issue is that the starting platform would be required to be the same height as the objects. This allows for them to be decoupled.

@kellyguo11
Merge branch 'main' into jat/feat/terrain_heigh_control
abeee66 
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
@kellyguo11 kellyguo11 merged commit c5fd8eb into isaac-sim:main Jul 9, 2025
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@ooctipus ooctipus ooctipus approved these changes

@Mayankm96 Mayankm96 Awaiting requested review from Mayankm96 Mayankm96 is a code owner

@jsmith-bdai jsmith-bdai Awaiting requested review from jsmith-bdai jsmith-bdai is a code owner

@kellyguo11 kellyguo11 Awaiting requested review from kellyguo11 kellyguo11 is a code owner

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@jtigue-bdai @ooctipus @kellyguo11