# Description

* Added functionality to sample flat patches on a generated terrain.
Added separate normal and terrain-based position commands. Terrain-based
commands rely on the terrain to sample flat patches.
* Added a terrain-based root reset function to reset the robot to a
random flat patch.

The MR includes the following fixes:

* Fixed command resample termination function.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Screenshots

![poses](https://github.com/isaac-orbit/orbit/assets/12863862/678d3cde-63da-4c57-8aae-4c84440f55e3)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [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

---------
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>