Is there a way to apply external forces to the robot body in the IsaacLab training code? Like thrust, drag, etc.
And is it possible to distribute this external force evenly over the surface of the body? If so, is there documentation on this?
I would be grateful if someone could answer!
I would apply the randomized force to the main form of the robot. That would distribute the force “equally” I only say that in quotes as if your xform is offset from the center of mass then it might give slightly strange results.
Not 100% on drag. If it’s a ROV or drone you could randomly modify an additional gravity parameter. Which had a random force in any direction. I would give it a target, target update time (frame), lerp speed so it doesn’t update every frame just giving you random directional noise over a more realistic external force ie wind/sea current.
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