# Description

Enhance `base_height_l2` function to support rough terrain adjustments:

- Added an optional `sensor_cfg` parameter to allow dynamic target
height
  adjustments based on sensor readings (e.g., RayCaster).
- Updated the function to calculate the L2 squared penalty using
adjusted
  height values for rough terrain scenarios.
- Preserved existing behavior for flat terrain by using the fixed
`target_height`.
- Improved compatibility for applications involving uneven terrain.

Fixes #1524

## Type of change

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

## Checklist

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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>