how to simulate spraying particles with a keyboard event?

[tsk-magenta]

Hello,

I've used Isaac Lab to simulate a painting task using a Franka robot. 
To do that, I first loaded a scene with the robot and a red wall to be painted.

Now what I'm trying to do is simulate spraying particles from the hand of the robot when I type the keyboard key 'K' like the following image.

I'm using the following command, 
isaaclab.bat -p scripts/tools/record_demos.py --task Isaac-Paint-Franka-IK-Rel-v0 --teleop_device keyboard --dataset_file ./datasets/dataset.hdf5 --num_demos 10
which I slightly modified a command from Teleoperation and Imitation Learning page.
./isaaclab.sh -p scripts/tools/record_demos.py --task Isaac-Stack-Cube-Franka-IK-Rel-v0 --teleop_device keyboard --dataset_file ./datasets/dataset.hdf5 --num_demos 10

I also found a code snippet where the gripper action takes place when I type key 'K' from the joint_pos_env_cfg.py file.

        self.actions.gripper_action = mdp.BinaryJointPositionActionCfg(
            asset_name="robot",
            joint_names=["panda_finger.*"],
            open_command_expr={"panda_finger_.*": 0.04},
            close_command_expr={"panda_finger_.*": 0.0},
        )

According to the API, BinaryJointPositionActionCfg's open_command_expr takes dict[str, float].

The questions is how do I simulate spraying particles from the hand of the robot when the key 'K' is pressed?
Is there a tutorial for this? I haven't been able to find any one.

Thank you.

[RandomOakForest]

Thanks for posting this. Regarding particle simulation, there is this doc that may be of help. Regarding the functionality of the keyboard, the tutorial on teleoperation is a good place to start.

[arseniykan]

Hello,
I am currently working on the similar task. Can you share how you set up the scene with the robot?