{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4447","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4447/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4447/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4447/events","html_url":"https://github.com/RobotLocomotion/drake/issues/4447","id":194736224,"node_id":"MDU6SXNzdWUxOTQ3MzYyMjQ=","number":4447,"title":"EvalUnrestrictedUpdate() should be able to terminate simulation","user":{"login":"sherm1","id":4088016,"node_id":"MDQ6VXNlcjQwODgwMTY=","avatar_url":"https://avatars1.githubusercontent.com/u/4088016?v=4","gravatar_id":"","url":"https://api.github.com/users/sherm1","html_url":"https://github.com/sherm1","followers_url":"https://api.github.com/users/sherm1/followers","following_url":"https://api.github.com/users/sherm1/following{/other_user}","gists_url":"https://api.github.com/users/sherm1/gists{/gist_id}","starred_url":"https://api.github.com/users/sherm1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sherm1/subscriptions","organizations_url":"https://api.github.com/users/sherm1/orgs","repos_url":"https://api.github.com/users/sherm1/repos","events_url":"https://api.github.com/users/sherm1/events{/privacy}","received_events_url":"https://api.github.com/users/sherm1/received_events","type":"User","site_admin":false},"labels":[{"id":77798003,"node_id":"MDU6TGFiZWw3Nzc5ODAwMw==","url":"https://api.github.com/repos/RobotLocomotion/drake/labels/priority:%20high","name":"priority: high","color":"b60205","default":false},{"id":351649295,"node_id":"MDU6TGFiZWwzNTE2NDkyOTU=","url":"https://api.github.com/repos/RobotLocomotion/drake/labels/team:%20dynamics","name":"team: dynamics","color":"0052cc","default":false},{"id":355436350,"node_id":"MDU6TGFiZWwzNTU0MzYzNTA=","url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20design","name":"type: design","color":"0e8a16","default":false},{"id":77797851,"node_id":"MDU6TGFiZWw3Nzc5Nzg1MQ==","url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20feature%20request","name":"type: feature request","color":"0e8a16","default":false}],"state":"open","locked":false,"assignee":{"login":"edrumwri","id":2224335,"node_id":"MDQ6VXNlcjIyMjQzMzU=","avatar_url":"https://avatars0.githubusercontent.com/u/2224335?v=4","gravatar_id":"","url":"https://api.github.com/users/edrumwri","html_url":"https://github.com/edrumwri","followers_url":"https://api.github.com/users/edrumwri/followers","following_url":"https://api.github.com/users/edrumwri/following{/other_user}","gists_url":"https://api.github.com/users/edrumwri/gists{/gist_id}","starred_url":"https://api.github.com/users/edrumwri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/edrumwri/subscriptions","organizations_url":"https://api.github.com/users/edrumwri/orgs","repos_url":"https://api.github.com/users/edrumwri/repos","events_url":"https://api.github.com/users/edrumwri/events{/privacy}","received_events_url":"https://api.github.com/users/edrumwri/received_events","type":"User","site_admin":false},"assignees":[{"login":"edrumwri","id":2224335,"node_id":"MDQ6VXNlcjIyMjQzMzU=","avatar_url":"https://avatars0.githubusercontent.com/u/2224335?v=4","gravatar_id":"","url":"https://api.github.com/users/edrumwri","html_url":"https://github.com/edrumwri","followers_url":"https://api.github.com/users/edrumwri/followers","following_url":"https://api.github.com/users/edrumwri/following{/other_user}","gists_url":"https://api.github.com/users/edrumwri/gists{/gist_id}","starred_url":"https://api.github.com/users/edrumwri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/edrumwri/subscriptions","organizations_url":"https://api.github.com/users/edrumwri/orgs","repos_url":"https://api.github.com/users/edrumwri/repos","events_url":"https://api.github.com/users/edrumwri/events{/privacy}","received_events_url":"https://api.github.com/users/edrumwri/received_events","type":"User","site_admin":false}],"milestone":null,"comments":17,"created_at":"2016-12-10T01:45:05Z","updated_at":"2018-08-03T16:09:35Z","closed_at":null,"author_association":"MEMBER","body":"PR #4382 introduces a general-purpose event handler that can update any state variables. It should also be able to halt the simulation (end condition reached, robot fell down, sanity check failed, etc.).\r\n\r\nThis can be as simple as adding a bool functional return."},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/410301302","html_url":"https://github.com/RobotLocomotion/drake/issues/4447#issuecomment-410301302","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4447","id":410301302,"node_id":"MDEyOklzc3VlQ29tbWVudDQxMDMwMTMwMg==","user":{"login":"pvarin","id":651562,"node_id":"MDQ6VXNlcjY1MTU2Mg==","avatar_url":"https://avatars3.githubusercontent.com/u/651562?v=4","gravatar_id":"","url":"https://api.github.com/users/pvarin","html_url":"https://github.com/pvarin","followers_url":"https://api.github.com/users/pvarin/followers","following_url":"https://api.github.com/users/pvarin/following{/other_user}","gists_url":"https://api.github.com/users/pvarin/gists{/gist_id}","starred_url":"https://api.github.com/users/pvarin/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pvarin/subscriptions","organizations_url":"https://api.github.com/users/pvarin/orgs","repos_url":"https://api.github.com/users/pvarin/repos","events_url":"https://api.github.com/users/pvarin/events{/privacy}","received_events_url":"https://api.github.com/users/pvarin/received_events","type":"User","site_admin":false},"created_at":"2018-08-03T16:09:35Z","updated_at":"2018-08-03T16:09:35Z","author_association":"CONTRIBUTOR","body":"I'm about to start some reinforcement learning work that I'd like to use the drake simulator for. I need to be able to terminate the simulation when a goal is met or a failure occurs (e.g. @sherm1 's earlier comment about falling down). I also don't need super accurate resolution on the time of the event. A witness function that can terminate the simulation seems like it would work perfectly."}}
{"actor":{"display_login":"pvarin"}}