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Fix terrain_out_of_bounds to return tensor instead of bool #3180

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Fix terrain_out_of_bounds to return tensor instead of bool #3180

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Fix terrain_out_of_bounds to return tensor instead of bool
fan-ziqi Aug 16, 2025
e89d960
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fan-ziqi Aug 16, 2025
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3 changes: 2 additions & 1 deletion source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/mdp/terminations.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,8 @@ def terrain_out_of_bounds(
to the edge of the terrain is calculated based on the size of the terrain and the distance buffer.
"""
if env.scene.cfg.terrain.terrain_type == "plane":
return False # we have infinite terrain because it is a plane
# we have infinite terrain because it is a plane
return torch.zeros(env.num_envs, dtype=torch.bool, device=env.device)
elif env.scene.cfg.terrain.terrain_type == "generator":
# obtain the size of the sub-terrains
terrain_gen_cfg = env.scene.terrain.cfg.terrain_generator
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