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Adds a "duration" mode for event term #1192

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@luoye2333 luoye2333 commented Oct 9, 2024

Description

The original event term apply_external_force_torque is working throughout the episode of the robot/env, which is not useful in training, so a new event term is added: apply_external_force_torque_duration. It applies force/torque to the robot just for a while and then cancel. The original implemeted modes of event term "interval" cannot do this, so a new mode is added called "duration".

The changes have been tested in train/play and work as wanted.

Type of change

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

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Please attach before and after screenshots of the change if applicable.

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

@kellyguo11 kellyguo11 changed the title Add a "duration" mode for event term Adds a "duration" mode for event term Dec 12, 2024
@kellyguo11
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Thanks for the feature! Could you please run the formatter?

@luoye2333
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luoye2333 commented Dec 18, 2024

Finished the format check. Thank you.

Btw after 2 months now I think this is not a very elegant way to implement apply_external_force_torque_duration (apply force for a short time then cancel). Perhaps we can use a class __call__ and store the duration count down variable in the class. I do not know this is possible before so I had to add the global variables in the event manager. What do you think?

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2 participants