Understanding IsaacLab task - go1

I’m trying to understand the Isaac-Velocity-Rough-Unitree-Go1-v0 task, and I couldn’t find how the raycaster is helping us start the robot just above the terrain. Can you explain how and where this is being done? Where is the code section that takes the height of the terrain at the robot’s (x, y) pose from the raycaster and adds it to the initial pose of the robot?

Isaac Lab Version 1.2

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